Simply look at the definition of HANGING:
Quote:
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HANGING – a GAME PIECE is HANGING when it is fully supported by a PEG through its center hole and released by the POSSESSING ROBOT. If a GAME PIECE on the floor is preventing a GAME PIECE that has been hung on a bottom PEG from becoming fully supported (that is, if the floor GAME PIECE was not there, the hung GAME PIECE would be scored) then that GAME PIECE will still be counted as scored.
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It says a GAME PIECE must be fully supported on the PEG and must be released - no longer in POSSESSION. It doesn't say anything about touching.
Don't make it hard on yourself and don't give the referees opportunity to say it was not released - make it obvious it was released if at all possible.