Answer:
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Let me first ask, is the pitcher intentionally leaving his foot in contact with the rubber, or does his foot just happen to end up touching the rubber after he makes his pick-off attempt? While I can't find anything specifically in the rule book that says that the pitcher MUST remove his pivot foot from the rubber during a normal pick-off attempt, I would interpret the step towards the base as the pitcher having disengaged the rubber. But, I would also interpret that, if in your judgement, he is intentionally leaving his foot in contact with the rubber (and it will look funny), this is clearly a deception to the runner, and you should call this a balk. The only reason for the pitcher to consciously leave his foot that way would be to deceive the runner.
You may want to review Section 8.05c of OBR where I did find this special case - "...It is possible, with runners on first and third, for the pitcher to step toward third and not throw, merely to bluff the runner back to third; then seeing the runner on first start for second, turn and step toward and throw to first base. This is legal. However, if, with runners on first and third, the pitcher, while in contact with the rubber, steps toward third and then immediately and in practically the same motion "wheels" and throws to first base, it is obviously an attempt to deceive the runner at first base, and in such a move it is practically impossible to step directly toward first base before the throw to first base, and such a move shall be called a balk." - T.W.
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