Rotation of a polytope in another one

We are interested in the naive problem whether we can move a solid object in a solid box or not. We restrict move to rotation. In the case we can, the centre and the ``direction'' of rotation may be restricted. Simplifying, we consider possibility of rotation of a polytope within another one of the same dimension and give a criterion for the possibility. Consider the particular case of simplices of the same dimension assuming that the vertices of the inner simplex are contained in different facets of the outer one. Premising further that simplices are even dimensional, rotation is possible in a very general situation. However, in dimension 3, the possible case is not not general. Even in these elementary phenomena, the parity of the dimension seems to yield difference.