The interpretation of the flipping rules that WPI has in both the Savage Soccer competition and at Battlecry is:
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Robots may not intentionally flip the opposing team's robot. The flipping robot will be disqualified from the match if, in the referee's decision, they initiated a lifting action which results in flipping; if the flipped robot initiates the action, there is no penalty. In all cases, and especially when both the flipper and the flipped are in motion, the final decision is up to the referees, whose decisions are final.
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I believe this is very much in the spirit of FIRST's rules. Let's not get technical in trying to redefine words like blocking and entanglement.