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If the pitcher's foot was clearly past the rubber call a balk, as was done. It is not impossible to tell and if you don't call it the defensive team will continue to cheat the offense.
From behind the fence on 1b side during pre-season scrimmage I saw a LH batter clearly fail to check his swing, and argument ensued when PU would not ask his partner in A. I asked his partner after the half inning did he swing, and of course he said "oh yea, big time".
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