I did this on a suggestion from my tour operator when moving from Tokyo to Kyoto: I took a detour with light baggage to visit another couple places on the way t

I did this on a suggestion from my tour operator when moving from Tokyo to Kyoto: I took a detour with light baggage to visit another couple places on the way to Kyoto, and my main luggage was expecting me in the hotel when I arrived. This could be a good idea for my trip back - I suppose they deliver it to a specified place in the airport and I can then just pick it up at the terminal?