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Re: Moving Hitch
You could argue that the definition of fixed location that you quote is when the robot is in playing configuration. If you assume the fixed location of the trailer hitch in R18 is in starting configuration, then I dont see why you can't change the "fixed location" between the 2 configurations.
An extreme example would be to start the robot standing on its front. it is very tall, wide and short. The trailer is hitched to the back of the robot in this config. When the robot starts it falls back over the top of the trailer with material expanding out to cover the trailer, which is now in the middle of the robot. What was the top of the robot in starting config is the back in playing config. Note this is an extreme example that I haven't worked out whether the sizes actually work or not.
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