We propose a new condition to test for the impossibility of jamming in
three-dimensional, quasistatic multi-rigid-body systems. Our
condition can be written as a feasibility problem of a system of
linear inequalities and therefore can be checked using linear
programming techniques. To demonstrate the use of our jamming test,
we apply it to a simple dexterous manipulation task and to the
well-known peg-in-hole insertion problem.