Yes, and this is different from PSK, as TXMike said.
True in the broad sense. Not in this case. We have done some fine splitting of hairs here, so allow me

In order to bat or kick a ball, do you not need to touch it? Since the answer to that question is Yes, in order to have a bat, kick or bounce, the ball must be touched, we can equate batting to touching in 6-3-11.
Because of that, the PSK in this case would be the 20 because of rule 6-3-11. We would then enforce the kicking foul (6-3-13) where the ball belongs to B (this case, the 20).

I knew that higher level math classes would come in handy at some point.
