No, it's not where you are physically as you say it. It's where you THINK of yourself when you say it.
If it's three hours later and you're at a cafe with a friend, but you are picturing yourself with your grandmother at the hospital, you will naturally say "bring." But if you are picturing yourself packing up the biscuits at home, you will naturally say "take."
By the way, I emphasized the bring/take and brought/took because I believe if the thread title had been Bring versus Take, you would have gotten the "similar threads" referenced above. That's one reason good titles are important - they may help cut your time for a good answer down by providing links to prior discussions.