When are scores calculated?

[FRC1529]

Rule <G07> states that scores are determined at the end of the match. Is this defined as the instant the match ends, or when all objects have come to rest?
Also, does a robot touching a game piece at the end of a match have any effect on that game piece being scored?

[GDC]

Scores are assessed when all objects in the CRATER come to rest. Please refer to Rule <G07>, as amended in Team Update #3.

If a ROBOT is in contact with a GAME PIECE at the end of the MATCH, the GAME PIECE will be assessed to determine if the required conditions for SCORING are still satisfied. If ROBOT contact causes a GAME PIECE to become de-scored, it will be considered a violation of Rule <G25.1>.