Answered: <R1> Interpretation: The "Swiss Army bot"

According to <R1>,

My interpretation of the bolded part is that a team could swap out, for example, a catapult, for a dumper during a competition in between matches as long as the drive train and power & control system were left alone, like a “Swiss Army bot” on BattleBots. These modular mechanisms would be built before the competition and the team would go back and forth among the mechanisms to account for a match’s opposing alliance, as well as the alliance partner.

Is my interpretation correct?

Yes, this is legal provided that all configurations are inspected and that <R1> is not violated, especially with respect to the different defined subsystems.