When seated with good posture, you feel the freedom to pivot on the bench. You can reach the lowest pedal keys with ease, and the highest pedal keys with a little more stretching.
The legs are well supported by the bench, and very little muscle activity is required to keep the keys from playing. The feet are lightly touching the key surface without actually playing the keys, but are not drawn up tightly.
Playing keys with the toes requires motion only at the ankle, and playing natural keys with the heel requires only slight leg motion.