G13 still needs to be updated to address an ambiguity in the "beyond the midline" portion... As of today, the rules can be read that the additional foul can be applied either:
A) if a portion of a robot crosses to the opposite side of the midline (and then contacts - directly or transitively - an opponent robot), or
B) the additional foul could be applied by a robot (still behind or over the midline) transitively contacting an opponent robot that is beyond the midline.
The difference is essentially whether "beyond the midline" applies to the offending robot or the opponent robot.
I would like to see this updated... it seems that A is the intended scenario, given that B is only possible now that transitive contact was made possible, but it definitely isn't clear from the rules as written.