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We used to do it.
When I played babe ruth, we had a pitcher who picked many people off at first. He would go to set, bring his leg straight up and push it back underneath him in a straight line to first, and just let his body turn natural. The umpires never called a balk. That doesn't always mean it was right, because he have several experienced umpires around here now that still don't call the infield fly rule, even when our league rules say it is in effect.
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