[Sean M]

I would lend emphasis to the "contact" part of 3.2.4.2 rather than being in the zones themselves. As JHammond mentioned, any robot taller than 30" would otherwise immediately violate the rule (touching level 0, in zone 1 and zone 2). My interpretation is that the only thing being restricted is CONTACT with the pyramid, not presence in a zone.

Another thing to consider the legality of would be the scenario of lifting an alliance robot. Per the rules, your robot could have climbed in the traditional sense (whatever that may be), be in Level 3, and then lift an alliance mate (say by hooking on some point on their robot) by [G33] through to Level 2. This alliance robot would have contacted the pyramid in sequential order (only Level 0) and satisfies restraint B.