I spend a lot of time on the floor. I even bought a meditation mat for a little bit of padding.
I'll also lay on the floor. I have a firm bed but sometimes it's just nicer on the floor. Even as a child, if I was stressed, I'd end up laying on the floor. It's very grounding from that perspective.
I'd love to get a low desk one day so I can work while sitting on the floor. I always sit cross legged or on a foot but it's very uncomfortable on chairs designed only for the size of a butt.