In order for a gear to be pulled up by the pilot does the robot have to be out of contact with the gear and the peg for the pilot to pull it up. Because my team we are just planning on just driving straight into the peg and the pilot pulling the gear out of the robot. I didn’t see any rule that says otherwise but better safe than sorry am I right 
As per Q and A response 1 the gear can be lifted regardless of it being in contact with the robot.