Looking for a *very* specific sort of workout

Hi, all,

I hurt my ankle last week, which means I have to be very careful for at least a few weeks not to stress it. It also means I walk lopsided for a while, favoring one side, which causes all sorts of issues if I don't get in really good stretching every day. I've found a few stretching/Pilates workouts here for the lower body that require zero pressure on the ankles, but one can't really tell from the cover image which ones fit my needs. Have any of you done an "on the floor" workout recently enough to know that it's "foot free", or nearly so? I need workouts that allow me to work my joints and that I can do without involving my ankles. Any recommendations?