Here is a counter-example for $R^3$: Let $P$ be a pyramid whose base is the unit square and of height $1$, the apex being equidistant from all vertices of the base. Then $P$ has an inscribed sphere, a sphere tangent to all of its faces, and a circumscribed sphere, no two of which are concentric.
Wlodek Kuperberg
- 7.3k
- 28
- 60