iternabe BTW The sustain pedal I have for my digital piano has fairly good resistance. And I have read that on acoustic piano it is possible to adjust the pedal tension so that just resting the full weight of the foot on the pedal (ankle on the floor of course) would not push it down.
This is true (except for "ankle on the floor" ). The angle of the foot matters a lot too. I have an acoustic and it's on caster cups. My pedals are 3 inches from the floor. This was a huge adjustment when it was new. I had to get a little platform to rest my heel on, and I had to try about 10 pairs of shoes (and many pedal tension adjustments) to finally get things dialled in. The only shoes that work are a pair of wedge sandals with a 2" heel. These allow me to rest my foot on the pedal without it moving. With other shoes, I had to hold my foot up a little, and after 30+ min of playing I would feel a very uncomfortable strain/fatigue in my shin. With my previous piano this was never even something I had to think about...the pedals were very close to the floor.