Picking up opposing team tubes in front of feeder lane

[Rschantz80]

I was wondering from a legal stand point if there was a tube on the ground in front of the opposing teams feeder slot and no opposing teams robot was in possession of that game piece, could I pick up that game piece with my robot while in my scoring zone and place it on my scoring grid? As I understand the rules so far, once the piece is on the ground it is fair game? I have found nothing in the rule yet that prohibits the robot "arm" from reaching in the lane. I just can't enter the lane with the robot.