I think I have answer for the 2nd option, but not the 1st.

I noticed if I turn "visibility" of the mesh to OFF, it still behaves as floor contact object, it doesn't stop being active. Great!
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Hi!

Anyone has a deeper understanding of Human IK floor contact option?

I am trying to make a guy standing in a small rowing boat, and I want to add reality by moving the boat ever so slightly,...