We go through so many batteries that we would never think to charge the battery while on the robot. So orientation is not an issue for us.
Regarding the battery mounting rule:
Quote:
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R33 The ROBOT battery must be secured such that it will not dislodge should the ROBOT be turned over or placed in any arbitrary orientation.
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"arbitrary orientation" includes turning the robot upside down. Basically, once secured, there is no way to remove the battery. All 6 sides of the battery must be restrained.
Some people use "compression" to hold the battery (squeeze the sides of the battery). I personally don't like it. I would much rather see a strap across the top.