From my experience last year, it is always acceptable to help out your teammate to right themselves.
To show proof, the rule you quote actually clarifies this:
Quote:
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<G51> Fallen (i.e. tipped over) ROBOTS attempting to right themselves (either by themselves or with assistance from an ALLIANCE partner) have one 10-second grace period per fallen ROBOT in which they may not be contacted by an opposing ROBOT. This protection continues for either 10 seconds or when the
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they rule specifies that opposing robots are not allowed to touch the downed robot. This implies and does not limit an alliance member from assisting.
Also, In <G48>, read the part about "are not in the spirit of the FRC and are not allowed." This rule is about trying to impede other robots, not assist them. In fact, helping other robots is in the full spirit of FRC, which goes contrary to rule <G48>
So yes, you can assist a member to right them self.