I've actually wondered this myself and have taken to barely rinsing things out and recycling some stuff partially full, like shampoo I no longer want. I think it's okay.
It does help with your own recycling bin, but the recycling people don't care, as long as there isn't a lot of food still in the can or bottle (or at least that's what the lady at the dump told me)
Our recycle company asks us not to recycle items with food particles, but I hate that. I don’t even like washing my own dishes, and I can’t stand the idea of washing the trash too. I rinse, but thats all.