What is considered a catch

With the obvious overwhelming effort put into the rules and more rules. I would think that the definiton of "Catch" would be absolute. Ie. in possession for (X) amount of time, or mandatory movement of the bot after catching. Now we want to enact the vague "grandmothers rule", I would argue that inadvertently ending up with your opponents ball in your bot doesn't define possession, due to complete lack of intent. In fact are there any rules preventing an alliance from intentionally placing the ball in an opponents bot?