How to specify to ignore a collision when three objects are colliding

Hi, im trying to get a character to pick up an object and be able to hold it and rotate it while moving. Inorder to do this I was trying to use the script shown below to allow the object to ignore my players collision, but because the held object is so close to my player I cant specify which objects I want the held object to ignore collision with. Is there any way to specify that I want my collider to pass through the player while not passing through another object (i.e. the floor) without moving the object further away from my player? thanks

 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
 
 public class GrabPassthroughManager : MonoBehaviour
 {
 
 
     void OnCollisionEnter2D(Collision2D collision)
     {
         if (collision.gameObject.tag == "Player")
         {
             Physics2D.IgnoreCollision(collision.gameObject.GetComponent<BoxCollider2D>(), GetComponent<BoxCollider2D>());
         }
     }
 }