Question

A [wealthy] family decided that we are poor. Therefore, accordingly, they decided to do us a kindness and pass on to us what they don’t need.
It can also include things that are genuinely valuable, but also leftover food… and things that are really inappropriate.
They’re sure they’re doing us a tremendous kindness, but in reality it’s a big bother every time to go and receive sacks of leftover food from them… [along with a few worthwhile things]. 
On the other hand, it’s also a kindness to them, because that way they don’t feel that in their wealth they are being wasteful and just throwing things in the trash. Rather, it gets used.
Bottom line, it’s a bizarre cycle: they’re convinced they’re doing a great kindness, and the recipients are also convinced they’re doing them a great kindness by sparing them the feeling that they’re just throwing things away.
It’s a cycle of discomfort.
 
A. Is it really a kindness to go take things from them?
B. If one decides this has gone too far, how do you stop such an unpleasant cycle?