For future reference, please include all applicable rules in your question, per the Q&A Usage Guidelines before posting, specifically point 3, "Quote the applicable rule from the latest version of the manual in your question". In addition to G10, rule <SG3> states the following:
<SG3> Keep Blocks in the Field. Blocks that leave the Field during a Match may be returned to the Supply Zone by a Driver or Referee. Any Blocks which remain outside of the Field at the end of a Match will be considered “in” the Supply Zone (i.e., the Supply Zone will not be eligible to be Cleared).
“Leaving the Field” means that a Block is outside of the Field Perimeter and no longer in contact with the Field, Field Elements, other Blocks, or Robots.
If a Block must be removed during a G10 interaction, this Block would be considered "out of the Field" as soon as it is removed from the Robot, and may be immediately placed directly into the Supply Zone.