There are several questions at the Q&A awaiting response that pertain to this. Namely, what constitutes a single appendage? Used, functionally, together at all times (separate powering mechanisms, but coded such that they are always in tandem)? Mechanically linked anywhere? Mechanically linked outside the frame perimeter? We don't know yet, and only the Q&A will tell.
https://frc-qa.usfirst.org/Questions.php, under The Game-Robot Actions-G21.