Sorry, but I think they got it wrong.
The guys in the booth were a microcosm of the call. One was fixated on one aspect, that the defender cleanly grabbed and never bobbled the ball. Steratore called it correctly, acknowledging that it was handled cleanly - but grabbed at the instant the nose of the ball makes solid contact with the ground. By any historical measure, that ball is incomplete.
I recognize that "historical measures" has little significance when they change the rules more often than I change my sox.
ETA: I also realize the ball can touch the ground as long as you have full control. However, in the circumstances of that play, he puts his hands on the ball just before or when it hits the ground. And, even if it is "just before", and the nose of the ball hits as it did, I don't think you can say the ground didn't assist in making the catch.