There was non-minor contact and foul was called by yellow player.
Here some possible outcome:
1. Yellow player ran into the space but hasn't ensure that blue player change his direction (poach) - failed legal position/movement by yellow: he initiated the contact.
2. Yellow played ran with no direction changes. Blue player played man-D but changed(!) his movement direction in the very last moment so yellow player haven't any chances to avoid non-minor contact. Here blue player initiated the non-minor contact.
3. Both player moved in the same spot with non-minor contact as the result that may be treated as offsetting foul.
Could you please help with that options (or may be other ones)?