Not touching the floor turns the exercise into a single leg squat. Think about it - you need to step onto a chair to reach something off a high shelf. Your right foot on the chair, left on the floor and you step up. Your left leg assists in balance but doesn't supply that much lift. As long as you remember this when weights are added there's not reason to make it more difficult.
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( * IAFJ = it's a fucking joke)
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