<G16> Robots are not allowed to removed Rings from the Bonus Tray when it is not Released. Minor violations of this rule that do not affect the match will result in a warning. Major (score affecting) offenses will result in a Disqualification. Teams that receive multiple warnings may also receive a Disqualification at the Head Referee’s discretion.
When is it released?
Released – The Bonus Tray is Released when both Latches have been activated such that there are no more Rings contacting the Bonus Tray (i.e. the Bonus Tray is empty).
So, when the rings are no longer touching the tray, they are in play!