Per our understanding, after the match has begun, adding balls to the field can be done either by the (1) loading station or (2) Rapid Load.
There is nothing in the <SG4> rules that prohibit the robot from being in Starting Zone 2 when the Rapid Load balls are loaded. Can you confirm that this is allowed?
Specifically, we're looking at code that would require resetting the robot in Starting Zone 2 per the rules, placing two Rapid Load balls on the field (also) in Starting Zone 2, and then running the robot forward to pick them up before continuing to the Goal Wall to score.