What happened?

Currently, the constructor of SemiExplicitEulerIntegrator is as follows:

SemiExplicitEulerIntegrator(const System<T>& system, const T& max_step_size, Context<T>* context = nullptr)
    : IntegratorBase<T>(system, context), 
      qdot_(context->get_continuous_state().num_q()) {
    IntegratorBase<T>::set_maximum_step_size(max_step_size);
}

It allows user to supply nullptr for context, yet it dereferences context without checking.

Version

No response

What operating system are you using?

No response

What installation option are you using?

No response

Relevant log output