Yes - you'll probably never see any more of it than this. I've got one in my 10 gallon tank that's been there in the same spot doing exactly what yours is doing for about 3 years.
As it grows, you will begin to see more legs appearing. I had one do that, only show a few legs...eventually, all five are poking out. I assume its grown to the point it didn't need its other two legs to hold itself to the rock.
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