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There is a difference between batter stepping out of the box and coach stepping out of the box. One carrys a defined penalty by rule, the other does not. The stepping out of the batter's box penalty is one that is routinely ignored by everybody I know. I have never seen it called. However, everybody I know is going to tell the batter to keep one foot in the box if he steps out when one of the exceptions does not apply. The original poster wanted to know how to handle this situation. Unless he wants to be an OOO he will keep batters in the box also, and save the penalty for an extremely rare situation.
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