You can, they were just saying that you can't set your robot up so that the long side is already down. They are just re-iterating that you have to be inside the 30x36 box.
It was allowed because they said, in reference to the light, light had to be upright according to the orientation the robot would be operating during the match, and not in the start position.
Quote:
M10
Once a match begins, robots may extend beyond the starting size under their own power. Any restraints (elastics bands, springs, etc.) that are used to maintain starting size must remain attached to the robot for the duration of the match.
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I highly suggest you familiarize yourself with the rules.