[Bennett548]

Hmm, I was thinking in a different direction: G7 states that when the robots are placed on the field they must be outside the landfill. It doesn't say that the robot has to stay outside the landfill there until the start of the match. So have a slow-moving mechanism that slowly flops down to the can during the time before the match starts, and while the FTAs are trying to fix the broken FMS system.
My loophole is much more likely to be closed immediately by a ref. A ref actually told me that if our canburglar was to be spring-loaded and accidentally move into the land-fill he would likely ask us to fix it, or disable us if it happens again.

You should have tried carbon fiber tube to build your mechanism, but that is a lot of cash to drop on something that could be decided to be illegal.