Can I ask a question to clarify when you can touch the robot when it returns to base in between programs?

In past years, the team could grab the robot as soon as a portion of the robot had clearly entered base.  But I think I read something in a question on this list about cargo needing to be in base too.  So, can you clarify about that?  For example, if the robot has an attachment that has grabbed some item off the table to bring it back to base, then when the robot comes back to base, once a part of the robot has clearly entered base, can the team member still grab the robot?  Even if the cargo is still out of base, but is attached to the attachment on the robot?  Am I being clear?

Thanks,

Sonya in Harrisonburg