Rule G23 says:
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If a ROBOT is in contact with carpet in its GOALIE ZONE, and for only one ROBOT per ALLIANCE at a time, there is no height restriction; however, any extension or combination of extensions above 5 ft. may not extend beyond a vertical cylinder with a 6 in. diameter (see examples in Figure 3-5).
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Thus it seems to me that, if any part of the robot is in the zone (by touching it), it should be able to extend upwards.