In terms of transferring a BOULDER into your opponent's COURTYARD, I believe it would be legal. However, it could potentially be seen as a violation of G40-1:
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A ROBOT may not hold a Low Bar flap open for the purpose of allowing a DRIVE TEAM member to transfer BOULDERS into their opponent's COURTYARD.
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I'm not sure if your idea of a grabber going under the bar to grab a BOULDER would be considered as holding the flap open or not. Either someone else can potentially answer that or you can go to the Q&A.