Digital piano fills the bill!
I know what a grand piano sounds like and feels like because I own one. However, it is on our main floor and lots of the musical action takes place on the lower level. For touch, sound, looks and size, my new Casio Privia PX-750 fills the bill. I did not need the extras offered on the PX-350 so this choice was obvious. Directions for set-up were clear and easy to follow. It sits on carpet, not against a wall so as a precaution we have added 1/2 inch hardwood planks to stabilize it from tipping. Adds a nice touch! I couldn't be more pleased. In addition, the staff at Sweetwater were knowledgeable and professional and answered all my questions.