According to the rules, the team may touch/interrupt the robot at any time--but there may be consequences.
A robot not carrying any Mission Models can be interrupted with no Interruption Penalty if the Robot is completely in Safety.
To be re-launched, the Robot (and other stuff) needs to be set up completely in Base. See R12. But the team can move it around by hand within the Safety-Base region as part of the setup.
Virginia-DC FLL Referee Advisor
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