The intention of this rule and the others regarding power connections is to have every robot be wired the same way from the battery all the way to the speed controlers / relays.
The primary reasons for this are safety and ease of robot inspection. There are secondary benefits - like being able to share/borrow batteries.
So lets not get technical with the words here. FIRST gives you the batteries, quick-connects, main breaker and fuse panels -- its pretty easy to just wire them together.
The intent of <R20> is that you wire your power this way.
Aidan