YES

   1: f(0(),0()) -> f(0(),1())
   2: f(1(),0()) -> f(0(),0())
   3: f(x2,x1) -> f(x1,x2)

@Development Closedness
--- R
   1: f(0(),0()) -> f(0(),1())
   2: f(1(),0()) -> f(0(),0())
   3: f(x2,x1) -> f(x1,x2)

--- S
   1: f(0(),0()) -> f(0(),1())
   2: f(1(),0()) -> f(0(),0())
   3: f(x2,x1) -> f(x1,x2)