Members of a team that compete in at least one of the heats, quarterfinals, semifinals, or finals receive a medal if their team finished the final competition in the top three. For example if a swimmer in the 4x100 freestyle relay competes in the semifinal race only, they will get a medal if their team finishes in the top three in the final race.
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From watching London Olympics 2012 it seems that they do because as far as I can see there is no change in membership of a Basketball team through the heats.