The robot may be picked up anywhere on the field. (Rule 42, sort of, and Rule 2)
If it is partially in Base, then there is no robot penalty for the touch of the robot. (Rule 43 and Rule 27)
If the robot is completely in Base, then there's no extra advantage.
The mission does not list any requirements to use a sensor. (see Rule 2)
VA-DC FLL Referee Advisor
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