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How do you know there was no advantage gained? Maybe that pitcher has a real problem throwing wild pitches unless he's allowed to blow through the stop requirement.
The point is, the pitching rules are to be followed on every pitch. Would you have NOT called a balk had the pitcher dropped the ball while on the rubber? After all, there's no advantage gained in that balk.
It was the pitcher, not the umpire, who screwed up. Not calling the balk creates a disadvantage "not intended by the rules" for the opposing team.
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