It looks like they're doing push ups or planks at the very end, the camera guy just caught someone being lazy in the 'rest position' ;)
The only one-knee kneeling we did was during battlestations, and it was never for more than 3-4 minutes at a time. Usually you have the option of standing up or kneeling.
To be honest, my knees are pretty uncomfortable on hard floors too (ah to be 18 again) but I don't remember it being a problem. If you're RDCs are seeing that you're giving your all and kicking butt at everything else, then they probably won't notice or mind too much about you fidgeting when you're kneeling.
I found it much harder on my tailbone to do sit ups/crunches and the like on concrete floors!
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