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The penalty for an illegal pitch is a ball on the batter and all runners advance one base (if there are any on base). The penalty for not inforcing the warning would be to eject the player(s) that were breaking the rule. This is one persons interpertation that that rule would apply. In my opinion that is a stretch and I don't think if they were not between the pitcher and the batter that I personally would call that. But that is just me, just like on the illegal pitch call it is judgement call and some may agree with it some won't!
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