[kitare102]

I'm not a reliable source of manual info, but I remember seeing that the judging for reaching a defense is to the discretion of the field judge (proper name escaping me atm), and that they are instructed to rule against the team if there is any question of whether you've crossed the defense line or not. I'd assume it's the same for crossing the midline, meaning I'd be hesitant to even get within two inches of it, seeing as you might get ruled against anyways. Seems like too much of a risk to put in the hands of limited sensor fidelity and possible ostables unaccounted for.