Preextension Prior to Match

Is it allowed for a team to preextend their robot right before a match.

the robot must be in it’s 18x18x18 space until the match begins. You’ll need to come up with a way for the autonomous program to release the extension as soon as the match starts.

The robot has to be within 18"x18"x18" in order for the match to start. There is no pre-extension allowed. However, once the match has started, it may expand all it wants.