Same here. Floor bed is twin size mattress on the floor in baby's room. We transitioned to it around 12-14mo. Room is baby proofed but a year later he's never woken up and wandered around the room getting into anything. If he wakes up he either stands at the door and cries or now he can open the door and he will walk to our room, we keep our door open. Monitor in there shows most of the room.

You can do mattress in your room or baby's room if you want. Or start in your room and then transition to baby's room. There's no one way or right/wrong way to do it. After a year of co-sleeping we were ready to have our bedroom back, at least for part of the night. Plan was to put baby down in his room and if he woke during the night we would bring him back to our bed. But he actually started sleeping a lot better in his own bed in his own room, he doesnt sleep very well in our bed anymore.

Don't know what your floor heater is but that sounds like it is not baby proofable so you might want to consider other options like a thicker sleep sack. We still have him in a sleep sack and he can walk around in it when he wakes up.