[FrankJ]

Definition of starting configuration:
STARTING CONFIGURATION:
"The physical configuration and orientation of the ROBOT when the MATCH is started.
snip
In the STARTING CONFIGURATION, no part of the ROBOT may extend outside the vertical projection of the FRAME PERIMETER, with the exception of minor protrusions such as bolt heads, fastener ends, rivets, etc
snip"

You can touch any part of the pyramid you can legally reach, but you need to be within the frame perimeter of your bot.