Is mid match expansion legal?

My team’s robot has mechanisms that when starting the match, they are fully legal, but upon being activated they breach the boundary for a short period of time, and then go back to being within the legal size limit. Is this still legal?

I don’t believe that is allowed.


After the start of the match, the vertical limit is infinite, but the width and length boundaries remain the same, other than if you are in the expansion zones.