I still rest my pinky too, but I've just decided that it works better for me than trying to rest the heel of my hand on the bridge like a lot of people do. I will share what my classical guitar teacher told me about resting the pinky...
He said that the reason it is bad is because your pinky and your ring finger do not move independently. Relax your hand and hold it up and move your pinky. Notice that the ring finger moves with the pinky. His problem with it was that the restriction of the pinky finger also limited movement somewhat to the ring finger.
Resting on the heel has been hard for me, but you pretty much have to if you need to mute any strings, like on some of Doyle Dyke's songs.
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Bryan 
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