From the section 3 of the manual under the section where it discusses how ASSISTS are scored:
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A ROBOT is considered in a ZONE if it is in contact with the carpet in a ZONE or the tape marking the ZONE, but not in contact with carpet or tape for another ZONE.
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Combined with the second part of C in G4:
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positioned such that the only contact between the ROBOT and the carpet is in the white ZONE with the ROBOT between the TRUSS and their GOALS,
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It seems pretty clear to me that your robot's wheels can start the match touching the white tape since it's considered part of the white ZONE.