[Scott Carpman]

I think for q2, you need to be more specific. I interpret your question to be this situation:

Blueabot Alpha is has just hurdled a blue trackball over the Blue Overpass. The ball lands in the Red homestretch and is picked up by Blueabot Beta. At this point Blueabot Alpha has passed under the Blue Overpass and completed a lap. Blueabot Beta decides to pass the blue trackball to Blueabot Alpha.

At this point, Blueabot Beta passes the ball from the opponents side of the field, over the Blue Overpass, and into the arms of Blueabot Alpha.

This does NOT count as a hurdle.
To complete a proper hurdle, the robot must be in it's own homestretch.

That is, if I interpreted your question correctly.