We only have allegations of the alleged groping. Here we have actual pictures of Franken doing it.
Mmmm, yeah, grab that Kevlar body armor. Scandalous.
I hope you're not implying that Franken did nothing wrong posing like that.
Legally? Only if it was a repeat thing that turned into harassment, which doesn't seem to be the case.
Morally? Depends on the company. Some people are totally fine joking around like that. Some people aren't. They were on a comedy tour, so I imagine they weren't in a particularly prudish mindset. In a sane world, if you are uncomfortable with a joke, you go "please don't do that again", and then they go "oh, sorry, I won't", and that's the end of it.