Is the space of reachable particle configurations dense?

Let $p_0,\ldots,p_n$ be a finite sequence of points in an Euclidean space $\R^d$. Suppose that there is a (pointlike) particle sitting at each point $p_i$. In a ``legal'' move, any one of them can jump over another, landing on the other side, at exactly the same distance. Under what circumstances can we guarantee that for any $\varepsilon>0$ and any other sequence of points $q_0,\ldots, q_n\in\R^d$, there is a finite sequence of legal moves that takes the particle at $p_i$ to the $\varepsilon$-neighborhood of $q_i$, simultaneously for every $i$? We prove that this is possible if and only if the additive group generated by the vectors $p_1-p_0,\ldots,p_n-p_0$ is dense in $\R^d$.