Abstract
We present a simple local geometric characterization of the configuration space of two polyhedra in contact that provides a representation of all infinitesimal motions that separate them. The polyhedra considered are general in the sense that they possibly have non-convex faces and arbitrary number of holes. The approach presented has two main advantages over former ones: 1) it only relies on the classical basic contacts between polyhedra, i.e. the vertex-face and edge-edge contacts; and 2) it does not require the focal decomposition of non-convexities into convex parts.
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