%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\version "2.19.83"
upper = {
  s1
}

lower = {
 c'8[\sustainOn  \change Staff = "upper" d'' e'' f'']\sustainOff r2
}

\score {
  \new PianoStaff <<
    \new Staff = "upper" \upper
    \new Staff = "lower" \lower
  >>
  \layout { }
  \midi { }
}
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

OR

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\version "2.19.83"
\include "LilyJSSVG.ly"
\addJSSVGTuner "html"

upper = {
 c'8 c' c' c' \change Staff = "lower" c'8[\sustainOn  \change Staff =
"upper" d'' e'' f'']\sustainOff
}

lower = {
s1
}

\score {
  \new PianoStaff <<
    \new Staff = "upper" \upper
    \new Staff = "lower" \lower
  >>
  \layout { }
  \midi { }
}
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

How can your solution can be applied to the above examples?
IIUC the way to avoid these things is using the Dynamics layer.
Another way is to use a function that moves all the pedal items to the
lower staff, which is not a limitation. I implemented it, meanwhile, in my
EasyCrossStaff template. Ugly Scheme code (sorry: I'm not a Scheme
programmer and hope someone could clean the code) but it seems to work well
(I've used it a lot)

http://lilybin.com/ilsup7/1

best,
P

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