Releasing Keepers

[FRC956]

Rule G14 states:
"Any Keepers that a robot may possess must be immediately released and dropped to the floor"

What if the keeper is placed on the robot such that it requires contact with the spider (or anything else) to release, but the vision system fails and the keeper is not released. At the end of Autonomous mode it will still be on the robot but cannot be released "immediately"? In manual mode, the keeper can be jostled loose, by rocking the robot, but it cannot be released "immediately"? Will a penalty be imposed if the keeper is not released immediately?

[GDC]

If the first action the robot takes under teleoperated mode is to release the keeper, before taking any other game actions, then that will be considered immediate.