Yes - logically if you trip someone deliberately but not recklessly or with excessive force then it isn't a foul!
The discussion by the studio panels demonstrates that no-one actually knows what the rules are supposed to mean. The particularly stupid change made a few years back to make the wording for a tackle the same as the other offences is crazy. Fair tackles have always been legal and pushes and trips never have so it is daft to have the same wording.
The first half challenges on Robben that everyone agreed were two penalties in quick succession were a case in point. For the first one, Robben never had the ball under control so couldn't be tackled. Both players had equal right to go for the loose ball. Not sure why he is being fouled if they both miss it. The secodn one was reckless and should have been a penalty and a yellow.
A penalty kick is awarded if any of the above ten offences is committed by a player inside his own penalty area, irrespective of the position of the ball, provided it is in play.
One of them is '' holds an opponent ''
This is where the refs are to blame as they allow holding to be punished only with warnings but how often do you see a ref have the balls to award a penalty for holding, like at a corner.