I am not sure that the PlayStation was hurt all that bad by piracy, honestly. CD burners around that time, and blank media, were still quite expensive and not readily available like they are today. I am sure there was a sizable underground market for it though - probably centered around colleges and such where tech would be available.

That is one reason 3DO, Atari Jaguar CD, and Turbo Grafx-16 CD-ROM did not have copy protection built in. Sega CD only had it for region locking, I believe you can burn games to a disc and play them just fine in the real hardware.

I don't know if the Apple Pippin, Amiga CD32, or PC-FX had copy protection or not (both released in the mid 1990's).

I know Saturn had it and PlayStation did too. They may have been the first CD consoles to feature copy protection.