G28, Q&A 83, and Noodling a Can Without Touching it

[GeeTwo]

The FIELD for RECYCLE RUSH is a 27 ft. by 54 ft. carpeted area, bound by and including GUARDRAILS and two (2) ALLIANCE WALLS.

G27 ROBOTS and anything they control, e.g. a TOTE, may not contact anything outside the FIELD.
VIOLATION: Offending ROBOT will be DISABLED.

So if the walls are part of the field, catching a tote as it slides out of the chute should be OK. The only question is the litter loading - and the way I read it (and I often read it differently than GDC) is that the robot isn't controlling the noodle if the human player is actively inserting it into the bin - the human player is.