Is it ever OK to not tip at all?

Not that I’m a skin flint but I’ve encountered pretty bad service before in a diner, and even though I did end up leaving a minimal tip after my dining partner argued with me about it, I felt it was unfair because the wait person was not only petulant but actually made remarks under her breath as she walked away after serving us. It was a small neighborhood diner and we doubt if we’d go back that way again, which was partly why we decided to let it go

BUT how can it be right when a gratuity that is ostensibly a token for service (in the original sense of the word) rendered has become something that’s pretty taken much for granted these days and that wait persons feel entitled to regardless of how little they do for you? 10% seems the absolute bare minimum where I am but at times like my experience, even that seemed way too much. Way I see it, I worked hard for my money and they should too…

P.S. Just to add, the diner wasn’t busy at the time – it was a 7 or 8 table place and there were maybe only 3 tables occupied, so I could discount the possibility that she was rushed off her feet