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It does look like that, but I can't tell for sure if the piston assembly is actually telescoping or if something else is going on. I don't know enough about the actual C-3PO costume to say for sure, but I didn't think it had this groove on the forearms, which the piston assembly appears to be moving along.
You can see that the bottom part of the assembly is on the other end of the groove in other shots, like this one. Even though the end of the assembly is in a different place, the length of the piston appears to be the same.
Either way, if they pulled off this kind of articulation, it's very impressive.
You can see in the pics that one of the thin rods of the telescoping parts has been bent/messed up as SSC moved the arms around for the photo shoot. And yes, threepio costume does have those long grooves.