Robot starting position

When starting in the competition does any part of the robot thats touching the ground have to be in the colored tile or can the robot be half in a grey tile? I want to know if i can push my robot forward so is claw is right above the goal to make programing easier, When I push it forward it is still (party) in the start zone.

My understanding is that some part of your robot must be touching the red or blue tile, but you can be on gray tiles as well.