Starting position and boundries

[Kristian Calhoun]

From the section 3 of the manual under the section where it discusses how ASSISTS are scored:

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.

Combined with the second part of C in G4:

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,

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.