Hyung Ju Suh (Terry)

There was a very specific reason for this, which was that the default solver (osqp) is not exact w.r.t. constraints (it violates the bounding box constraint with 1e-3), while Snopt...

@flederbaysian perhaps the runtime has expired? It might go back to normal if you do factory reset of the runtime.

Update: This error only seems to happen when Gurobi is used as a LP solver. I am not seeing any segfaults in Mosek or Clarabel, which is very interesting.

I tried the suggestion, and it still segfaults at the `partialPivLu` line (before adding `eigen_center`). I looked into this a bit more, and it seems like the segfault happens because...

I'll keep backtracking, but the trouble happens in this line: https://github.com/RobotLocomotion/drake/blob/14f202659212304462cca960f18ec8d557d86a2e/geometry/optimization/vpolytope.cc#L282 At the first pass through the constructor, the ambient dimension (6) is bigger than the affine dimension (5), and...

> I'm guessing it's probably not related to #20985, but you could try building off the code in #21009, which fixes that bug. But I don't see how that bug...

@jwnimmer-tri while we investigate with Hongkai, do you think it's a good idea if I submit a very short PR that does `DRAKE_THROW_UNLESS` for squareness of the matrix before it...