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Seen the movie like 12 times, read the book three times. If I recall correctly, Clark wrote 2010 with Jupiter instead of Saturn because he recognized that more people were familiar with the movie version. ACC was much more concerned with "what makes sense narratively" while Kubrick was focused on "what can we pull off". It was definitely collaborative but the shift from ACC's 2001 to Kubrick's 2001 for 2010 kinda walled off some interesting shit.