diff --git a/DEV_GROUPS.md b/DEV_GROUPS.md
index eefbc8c0..557dc67c 100644
--- a/DEV_GROUPS.md
+++ b/DEV_GROUPS.md
@@ -92,6 +92,25 @@ any of the other digging groups, make sure dig times of the weakest tool are
 still faster than with the hand (test this in-game to make sure).
 Also, never use `handy` and `oddly_breakable_by_hand` at the same time.
 
+### Pathfinder groups
+
+These groups very roughly categorize nodes for pathfinding. Specifically,
+the cost function in the `rp_pathfinder` mod. The groups
+are based on how the node would "feel" when you're barefoot.
+The pathfinder can use the groups to use preferences for paths.
+It’s not restricted to these groups, however, as the groups are intentionally
+very broad.
+
+It is recommended that every walkable node has at least one pathfinder
+group. Non-walkable nodes don't need this.
+
+* `pathfinder_crumbly`: Floor gives in (dirt, etc.)
+* `pathfinder_fibrous`: Fiber- or plant-based floor (grass, leaves, ...)
+* `pathfinder_spiky`: Somewhat spiky floor with sharp edges (cactus, gravel, ...)
+* `pathfinder_thin`: Block has a very thin walking surface (door, ...)
+* `pathfinder_hard`: Generic hard floor (stone, wood, ...)
+* `pathfinder_soft`: Generic soft floor (sand, cotton, ...)
+
 ### Interactive node groups:
 * `soil`: For blocks that allow several plants to grow
 * `leafdecay`: Node decays if not close to a `tree` group node (max. distance = rating).
@@ -162,11 +181,13 @@ Unlike `attached_node`, they also work if the node is not `walkable`. Use these
 * `dry_leaves`: Dry leaves
 * `lush_leaves`: Any non-dry leaves
 
-* `spikes`: Spikes
+* `furniture`: Any piece of furniture, including workstations (e.g.: bed, chest, furnace, jeweller's workbench)
 * `item_showcase`: Item showcase
 * `chest`: Chest (1=not locked, 2=with lock)
 * `furnace`: Furnace (1=inactive, 2=active)
 
+* `spikes`: Spikes
+
 * `plantable_dry`: You can plant farming plants on it and this node is considered to be dry
 * `plantable_wet`: You can plant farming plants on it and this node is considered to be wet
 * `plantable_sandy`: You can plant farming plants on it and this node is considered to be made out of sand
diff --git a/mods/rp_bed/init.lua b/mods/rp_bed/init.lua
index b636e9da..0301c0fc 100644
--- a/mods/rp_bed/init.lua
+++ b/mods/rp_bed/init.lua
@@ -606,7 +606,7 @@ minetest.register_node(
          {name="bed_back_overlay.png",color="white"},
       },
       use_texture_alpha = "clip",
-      groups = {choppy = 2, oddly_breakable_by_hand = 2, flammable = 3, bed = 1, fall_damage_add_percent = -15, creative_decoblock = 1, interactive_node = 1, paintable = 1 },
+      groups = {choppy = 2, oddly_breakable_by_hand = 2, flammable = 3, bed = 1, fall_damage_add_percent = -15, creative_decoblock = 1, interactive_node = 1, paintable = 1, furniture = 1, pathfinder_soft = 1},
       is_ground_content = false,
       sounds = sounds,
       node_box = {
@@ -778,7 +778,7 @@ minetest.register_node(
          {name="bed_inside_overlay.png",color="white"},
       },
       use_texture_alpha = "clip",
-      groups = {choppy = 2, oddly_breakable_by_hand = 2, flammable = 3, bed = 1, fall_damage_add_percent = -15, not_in_creative_inventory = 1, paintable = 1 },
+      groups = {choppy = 2, oddly_breakable_by_hand = 2, flammable = 3, bed = 1, fall_damage_add_percent = -15, not_in_creative_inventory = 1, paintable = 1, furniture = 1, pathfinder_soft = 1 },
       sounds = sounds,
       node_box = {
 	 type = "fixed",
diff --git a/mods/rp_book/bookshelf.lua b/mods/rp_book/bookshelf.lua
index 8cec50bb..2d20c12c 100644
--- a/mods/rp_book/bookshelf.lua
+++ b/mods/rp_book/bookshelf.lua
@@ -85,7 +85,7 @@ local bookshelf_def = {
    _tt_help = S("Provides 8 inventory slots"),
    tiles = {"rp_book_bookshelf_base.png", "rp_book_bookshelf_base.png", "rp_book_bookshelf_base_side.png^rp_book_bookshelf_overlay.png"},
    paramtype2 = "4dir",
-   groups = {choppy = 3,oddly_breakable_by_hand = 2,container=1,paintable=2},
+   groups = {choppy = 3,oddly_breakable_by_hand = 2,container=1,paintable=2,furniture=1,pathfinder_hard=1},
    is_ground_content = false,
    sounds = rp_sounds.node_sound_planks_defaults(),
    on_construct = function(pos)
diff --git a/mods/rp_decor/init.lua b/mods/rp_decor/init.lua
index f25768db..7fd096dd 100644
--- a/mods/rp_decor/init.lua
+++ b/mods/rp_decor/init.lua
@@ -5,7 +5,7 @@ minetest.register_node("rp_decor:barrel", {
 	tiles = {"rp_decor_barrel_top.png", "rp_decor_barrel_top.png", "rp_decor_barrel_sides.png"},
 	paramtype2 = "facedir",
 	on_place = minetest.rotate_node,
-	groups = { choppy = 2, level = -1, creative_decoblock = 1, flammable = 2 },
+	groups = { choppy = 2, level = -1, creative_decoblock = 1, flammable = 2, furniture = 1, pathfinder_hard = 1 },
 	sounds = rp_sounds.node_sound_planks_defaults(),
 	_rp_blast_resistance = 1,
 })
diff --git a/mods/rp_default/chest.lua b/mods/rp_default/chest.lua
index 8395a5de..083264af 100644
--- a/mods/rp_default/chest.lua
+++ b/mods/rp_default/chest.lua
@@ -50,7 +50,7 @@ minetest.register_node(
       tiles = {"default_chest_top.png", "default_chest_top.png", "default_chest_sides.png",
 	      "default_chest_sides.png", "default_chest_sides.png", "default_chest_front.png"},
       paramtype2 = "4dir",
-      groups = {choppy = 2, oddly_breakable_by_hand = 2, level = -1, chest = 1, container = 1, paintable = 2},
+      groups = {choppy = 2, oddly_breakable_by_hand = 2, level = -1, chest = 1, container = 1, paintable = 2, furniture = 1, pathfinder_hard = 1},
       is_ground_content = false,
       sounds = rp_sounds.node_sound_planks_defaults(),
       on_construct = function(pos)
@@ -86,7 +86,7 @@ minetest.register_node(
               -- Actual legit overlay
 	      {name="default_chest_front_painted_overlay.png",color="white"}},
       paramtype2 = "color4dir",
-      groups = {choppy = 2, oddly_breakable_by_hand = 2, level = -1, chest = 1, container = 1, paintable = 1, not_in_creative_inventory = 1},
+      groups = {choppy = 2, oddly_breakable_by_hand = 2, level = -1, chest = 1, container = 1, paintable = 1, not_in_creative_inventory = 1, furniture = 1, pathfinder_hard = 1},
       palette = "rp_paint_palette_64d.png",
       is_ground_content = false,
       sounds = rp_sounds.node_sound_planks_defaults(),
diff --git a/mods/rp_default/fertilizer.lua b/mods/rp_default/fertilizer.lua
index 9aeafa33..2a725dde 100644
--- a/mods/rp_default/fertilizer.lua
+++ b/mods/rp_default/fertilizer.lua
@@ -20,6 +20,7 @@ minetest.register_node(
 	 plantable_soil = 1,
 	 plantable_fertilizer = 1,
 	 fall_damage_add_percent = -5,
+         pathfinder_crumbly = 1,
       },
       drop = "rp_default:dirt",
       sounds = rp_sounds.node_sound_dirt_defaults(),
@@ -42,6 +43,7 @@ minetest.register_node(
 	 plantable_dry = 1,
 	 plantable_fertilizer = 1,
 	 fall_damage_add_percent = -10,
+         pathfinder_crumbly = 1,
       },
       drop = "rp_default:dry_dirt",
       sounds = rp_sounds.node_sound_dry_dirt_defaults(),
@@ -64,6 +66,7 @@ minetest.register_node(
 	 plantable_wet = 1,
 	 plantable_fertilizer = 1,
 	 fall_damage_add_percent = -10,
+         pathfinder_crumbly = 1,
       },
       drop = "rp_default:swamp_dirt",
       sounds = rp_sounds.node_sound_swamp_dirt_defaults(),
@@ -82,6 +85,7 @@ minetest.register_node(
 	 plantable_sandy = 1,
 	 plantable_fertilizer = 1,
 	 fall_damage_add_percent = -10,
+         pathfinder_soft = 1,
       },
       drop = "rp_default:sand",
       sounds = rp_sounds.node_sound_sand_defaults(),
diff --git a/mods/rp_default/furnace.lua b/mods/rp_default/furnace.lua
index 3b1678f7..94fb795d 100644
--- a/mods/rp_default/furnace.lua
+++ b/mods/rp_default/furnace.lua
@@ -171,7 +171,7 @@ minetest.register_node(
       tiles ={"rp_default_furnace_top.png", "rp_default_furnace_top.png", "rp_default_furnace_sides.png",
 	      "rp_default_furnace_sides.png", "rp_default_furnace_sides.png", "rp_default_furnace_front.png"},
       paramtype2 = "4dir",
-      groups = {cracky = 2,container=1,interactive_node=1,furnace=1},
+      groups = {cracky = 2,container=1,interactive_node=1,furnace=1,furniture=1,pathfinder_hard=1},
       is_ground_content = false,
       sounds = rp_sounds.node_sound_stone_defaults(),
       on_construct = function(pos)
@@ -207,7 +207,7 @@ minetest.register_node(
       paramtype2 = "4dir",
       light_source = 8,
       drop = "rp_default:furnace",
-      groups = {cracky = 2, container=1,interactive_node=1, furnace=2,not_in_creative_inventory=1},
+      groups = {cracky = 2, container=1,interactive_node=1, furnace=2,not_in_creative_inventory=1,furniture=1,pathfinder_hard=1},
       is_ground_content = false,
       sounds = rp_sounds.node_sound_stone_defaults(),
       on_construct = function(pos)
diff --git a/mods/rp_default/nodes_base.lua b/mods/rp_default/nodes_base.lua
index db7d17b4..fb5dba36 100644
--- a/mods/rp_default/nodes_base.lua
+++ b/mods/rp_default/nodes_base.lua
@@ -12,7 +12,7 @@ minetest.register_node(
    {
       description = S("Stone with Sulfur"),
       tiles = {"default_stone.png^default_mineral_sulfur.png"},
-      groups = {cracky = 2, stone = 1, ore = 1},
+      groups = {cracky = 2, stone = 1, ore = 1, pathfinder_hard = 1},
       drop = "rp_default:lump_sulfur",
       sounds = rp_sounds.node_sound_stone_defaults(),
       _rp_blast_resistance = 1,
@@ -23,7 +23,7 @@ minetest.register_node(
    {
       description = S("Stone with Graphite"),
       tiles = {"default_stone.png^default_mineral_graphite.png"},
-      groups = {cracky = 2, stone = 1, ore = 1},
+      groups = {cracky = 2, stone = 1, ore = 1, pathfinder_hard = 1},
       drop = "rp_default:sheet_graphite",
       sounds = rp_sounds.node_sound_stone_defaults(),
       _rp_blast_resistance = 1,
@@ -34,7 +34,7 @@ minetest.register_node(
    {
       description = S("Stone with Coal"),
       tiles = {"default_stone.png^default_mineral_coal.png"},
-      groups = {cracky = 2, stone = 1, ore = 1},
+      groups = {cracky = 2, stone = 1, ore = 1, pathfinder_hard = 1},
       drop = "rp_default:lump_coal",
       sounds = rp_sounds.node_sound_stone_defaults(),
       _rp_blast_resistance = 1,
@@ -45,7 +45,7 @@ minetest.register_node(
    {
       description = S("Stone with Iron"),
       tiles = {"default_stone.png^default_mineral_iron.png"},
-      groups = {cracky = 2, stone = 1, magnetic = 1, ore = 1},
+      groups = {cracky = 2, stone = 1, magnetic = 1, ore = 1, pathfinder_hard = 1},
       drop = "rp_default:lump_iron",
       sounds = rp_sounds.node_sound_stone_defaults(),
       _rp_blast_resistance = 1,
@@ -56,7 +56,7 @@ minetest.register_node(
    {
       description = S("Stone with Tin"),
       tiles = {"default_stone.png^default_mineral_tin.png"},
-      groups = {cracky = 1, stone = 1, ore = 1},
+      groups = {cracky = 1, stone = 1, ore = 1, pathfinder_hard = 1},
       drop = "rp_default:lump_tin",
       sounds = rp_sounds.node_sound_stone_defaults(),
       _rp_blast_resistance = 1,
@@ -67,7 +67,7 @@ minetest.register_node(
    {
       description = S("Stone with Copper"),
       tiles = {"default_stone.png^default_mineral_copper.png"},
-      groups = {cracky = 1, stone = 1, ore = 1},
+      groups = {cracky = 1, stone = 1, ore = 1, pathfinder_hard = 1},
       drop = "rp_default:lump_copper",
       sounds = rp_sounds.node_sound_stone_defaults(),
       _rp_blast_resistance = 1,
@@ -80,7 +80,7 @@ minetest.register_node(
    {
       description = S("Stone"),
       tiles = {"default_stone.png"},
-      groups = {cracky = 2, stone = 1},
+      groups = {cracky = 2, stone = 1, pathfinder_hard = 1},
       drop = "rp_default:cobble",
       sounds = rp_sounds.node_sound_stone_defaults(),
       _rp_blast_resistance = 1,
@@ -92,7 +92,7 @@ minetest.register_node(
       description = S("Cobble"),
       tiles = {"default_cobbles.png"},
       stack_max = 240,
-      groups = {cracky = 3, stone = 1},
+      groups = {cracky = 3, stone = 1, pathfinder_hard = 1},
       sounds = rp_sounds.node_sound_stone_defaults(),
       is_ground_content = false,
       _rp_blast_resistance = 2,
@@ -104,7 +104,7 @@ minetest.register_node(
       description = S("Reinforced Cobble"),
       tiles = {"default_reinforced_cobbles.png"},
       is_ground_content = false,
-      groups = {cracky = 1, stone = 1},
+      groups = {cracky = 1, stone = 1, pathfinder_hard = 1},
       sounds = rp_sounds.node_sound_stone_defaults(),
       _rp_blast_resistance = 6,
 })
@@ -114,7 +114,7 @@ minetest.register_node(
    {
       description = S("Gravel"),
       tiles = {"default_gravel.png"},
-      groups = {crumbly = 2, falling_node = 1, gravel = 1},
+      groups = {crumbly = 2, falling_node = 1, gravel = 1, pathfinder_spiky = 1},
       sounds = rp_sounds.node_sound_gravel_defaults(),
 })
 
@@ -125,7 +125,7 @@ minetest.register_node(
    {
       description = S("Coal Block"),
       tiles = {"default_block_coal.png"},
-      groups = {cracky = 3},
+      groups = {cracky = 3, pathfinder_spiky = 1},
       sounds = rp_sounds.node_sound_coal_defaults(),
       _rp_blast_resistance = 1,
 })
@@ -152,7 +152,7 @@ minetest.register_node(
    {
       description = S("Wrought Iron Block"),
       tiles = {"default_block_wrought_iron.png"},
-      groups = {cracky = 2, magnetic = 1},
+      groups = {cracky = 2, magnetic = 1, pathfinder_hard = 1},
       sounds = make_metal_sounds(default.METAL_PITCH_WROUGHT_IRON),
       is_ground_content = false,
       _rp_blast_resistance = 8,
@@ -163,7 +163,7 @@ minetest.register_node(
    {
       description = S("Steel Block"),
       tiles = {"default_block_steel.png"},
-      groups = {cracky = 2},
+      groups = {cracky = 2, pathfinder_hard = 1},
       sounds = make_metal_sounds(default.METAL_PITCH_STEEL),
       is_ground_content = false,
       _rp_blast_resistance = 9,
@@ -174,7 +174,7 @@ minetest.register_node(
    {
       description = S("Carbon Steel Block"),
       tiles = {"default_block_carbon_steel.png"},
-      groups = {cracky = 1},
+      groups = {cracky = 1, pathfinder_hard = 1},
       sounds = make_metal_sounds(default.METAL_PITCH_CARBON_STEEL),
       is_ground_content = false,
       _rp_blast_resistance = 9.25,
@@ -185,7 +185,7 @@ minetest.register_node(
    {
       description = S("Bronze Block"),
       tiles = {"default_block_bronze.png"},
-      groups = {cracky = 1},
+      groups = {cracky = 1, pathfinder_hard = 1},
       sounds = make_metal_sounds(default.METAL_PITCH_BRONZE),
       is_ground_content = false,
       _rp_blast_resistance = 9.5,
@@ -196,7 +196,7 @@ minetest.register_node(
    {
       description = S("Copper Block"),
       tiles = {"default_block_copper.png"},
-      groups = {cracky = 2},
+      groups = {cracky = 2, pathfinder_hard = 1},
       sounds = make_metal_sounds(default.METAL_PITCH_COPPER),
       is_ground_content = false,
       _rp_blast_resistance = 7,
@@ -207,7 +207,7 @@ minetest.register_node(
    {
       description = S("Tin Block"),
       tiles = {"default_block_tin.png"},
-      groups = {cracky = 2},
+      groups = {cracky = 2, pathfinder_hard = 1},
       sounds = make_metal_sounds(default.METAL_PITCH_TIN),
       is_ground_content = false,
       _rp_blast_resistance = 8.5,
@@ -221,7 +221,7 @@ minetest.register_node(
       description = S("Dirt"),
       tiles = {"default_dirt.png"},
       stack_max = 240,
-      groups = {crumbly = 3, soil = 1, dirt = 1, normal_dirt = 1, plantable_soil = 1, fall_damage_add_percent = -5},
+      groups = {crumbly = 3, soil = 1, dirt = 1, normal_dirt = 1, plantable_soil = 1, fall_damage_add_percent = -5, pathfinder_crumbly = 1},
       sounds = rp_sounds.node_sound_dirt_defaults(),
       _fertilized_node = "rp_default:fertilized_dirt",
 
@@ -252,7 +252,7 @@ minetest.register_node(
       description = S("Dry Dirt"),
       tiles = { "default_dry_dirt.png" },
       stack_max = 240,
-      groups = {crumbly = 3, soil = 1, dirt = 1, dry_dirt = 1, plantable_dry = 1, fall_damage_add_percent = -10},
+      groups = {crumbly = 3, soil = 1, dirt = 1, dry_dirt = 1, plantable_dry = 1, fall_damage_add_percent = -10, pathfinder_crumbly = 1},
       sounds = rp_sounds.node_sound_dry_dirt_defaults(),
       _fertilized_node = "rp_default:fertilized_dry_dirt",
 })
@@ -263,7 +263,7 @@ minetest.register_node(
       description = S("Swamp Dirt"),
       tiles = { "default_swamp_dirt.png" },
       stack_max = 240,
-      groups = {crumbly = 3, soil = 1, dirt = 1, swamp_dirt = 1, plantable_wet = 1, fall_damage_add_percent = -10},
+      groups = {crumbly = 3, soil = 1, dirt = 1, swamp_dirt = 1, plantable_wet = 1, fall_damage_add_percent = -10, pathfinder_crumbly = 1},
       sounds = rp_sounds.node_sound_swamp_dirt_defaults(),
       _fertilized_node = "rp_default:fertilized_swamp_dirt",
 
@@ -298,7 +298,7 @@ minetest.register_node(
 	 "default_dirt.png",
          "default_dirt.png^default_dry_grass_side.png"
       },
-      groups = {crumbly = 3, soil = 1, dirt = 1, normal_dirt = 1, plantable_soil = 1, grass_cover = 1,
+      groups = {crumbly = 3, soil = 1, dirt = 1, normal_dirt = 1, plantable_soil = 1, grass_cover = 1, pathfinder_fibrous = 1,
                 fall_damage_add_percent = -5},
       drop = {
 	 max_items = 3,
@@ -329,7 +329,7 @@ minetest.register_node(
          "default_swamp_dirt.png^default_swamp_grass_side.png"
       },
       groups = {crumbly = 3, soil = 1, dirt = 1, swamp_dirt = 1, plantable_wet = 1, grass_cover = 1,
-                fall_damage_add_percent = -10},
+                fall_damage_add_percent = -10, pathfinder_fibrous = 1},
       drop = {
 	 max_items = 3,
 	 items = {
@@ -359,7 +359,7 @@ minetest.register_node(
 	 "default_dirt.png^default_grass_side.png",
       },
       groups = {crumbly = 3, soil = 1, dirt = 1, normal_dirt = 1, plantable_soil = 1, grass_cover = 1,
-                fall_damage_add_percent = -5},
+                fall_damage_add_percent = -5, pathfinder_fibrous = 1},
       drop = {
 	 max_items = 3,
 	 items = {
@@ -393,7 +393,7 @@ minetest.register_node(
 	 fixed = {-0.5, -0.5, -0.5, 0.5, 0.5-2/16, 0.5}
       },
       tiles = { "default_dirt.png" },
-      groups = {crumbly = 3, path = 1, fall_damage_add_percent = -10},
+      groups = {crumbly = 3, path = 1, fall_damage_add_percent = -10, pathfinder_crumbly = 1},
       is_ground_content = false,
       sounds = rp_sounds.node_sound_dirt_defaults(),
 })
@@ -409,7 +409,7 @@ minetest.register_node(
 	 fixed = {-0.5, -0.5, -0.5, 0.5, -2/16, 0.5}
       },
       tiles = { "default_dirt.png" },
-      groups = {crumbly = 3, level = -1, path = 2, slab = 2, creative_decoblock = 1, fall_damage_add_percent = -10},
+      groups = {crumbly = 3, level = -1, path = 2, slab = 2, creative_decoblock = 1, fall_damage_add_percent = -10, pathfinder_crumbly = 1},
       is_ground_content = false,
       sounds = rp_sounds.node_sound_dirt_defaults(),
       on_place = function(itemstack, placer, pointed_thing)
@@ -451,7 +451,7 @@ minetest.register_node(
 	 fixed = {-0.5, -0.5, -0.5, 0.5, 0.5-2/16, 0.5}
       },
       tiles = { "default_dirt.png" },
-      groups = {crumbly = 3, path = 1, creative_decoblock = 1, fall_damage_add_percent = -10},
+      groups = {crumbly = 3, path = 1, creative_decoblock = 1, fall_damage_add_percent = -10, pathfinder_crumbly = 1},
       is_ground_content = false,
       sounds = rp_sounds.node_sound_dirt_defaults(),
 })
@@ -464,7 +464,7 @@ minetest.register_node(
       description = S("Brick Block"),
       tiles = {"default_brick.png"},
       is_ground_content = false,
-      groups = {cracky = 2, paintable = 2},
+      groups = {cracky = 2, paintable = 2, pathfinder_hard = 1},
       sounds = rp_sounds.node_sound_stone_defaults(),
       _rp_blast_resistance = 2,
 })
@@ -476,7 +476,7 @@ minetest.register_node(
       overlay_tiles = {{name="rp_default_brick_paintable_overlay.png",color="white"}},
       use_texture_alpha = "blend",
       is_ground_content = false,
-      groups = {cracky = 2, paintable = 1, not_in_creative_inventory = 1, not_in_craft_guide = 1},
+      groups = {cracky = 2, paintable = 1, not_in_creative_inventory = 1, not_in_craft_guide = 1, pathfinder_hard = 1},
       sounds = rp_sounds.node_sound_stone_defaults(),
       paramtype2 = "color",
       palette = "rp_paint_palette_256.png",
@@ -491,7 +491,7 @@ minetest.register_node(
    {
       description = S("Sand"),
       tiles = {"default_sand.png"},
-      groups = {crumbly = 3, falling_node = 1, sand = 1, plantable_sandy = 1, fall_damage_add_percent = -10},
+      groups = {crumbly = 3, falling_node = 1, sand = 1, plantable_sandy = 1, fall_damage_add_percent = -10, pathfinder_soft = 1},
       sounds = rp_sounds.node_sound_sand_defaults(),
       _fertilized_node = "rp_default:fertilized_sand",
 })
@@ -501,7 +501,7 @@ minetest.register_node(
    {
       description = S("Sandstone"),
       tiles = {"default_sandstone.png"},
-      groups = {crumbly = 2, cracky = 3, sandstone = 1},
+      groups = {crumbly = 2, cracky = 3, sandstone = 1, pathfinder_hard = 1},
       drop = "rp_default:sand 2",
       sounds = rp_sounds.node_sound_stone_defaults({
          dug = {name="rp_sounds_dug_stone", gain=0.9, pitch=1.4},
@@ -515,7 +515,7 @@ minetest.register_node(
    {
       description = S("Compressed Sandstone"),
       tiles = {"default_compressed_sandstone_top.png", "default_compressed_sandstone_top.png", "default_compressed_sandstone.png"},
-      groups = {cracky = 2, sandstone = 1},
+      groups = {cracky = 2, sandstone = 1, pathfinder_hard = 1},
       is_ground_content = false,
       sounds = rp_sounds.node_sound_stone_defaults({
          dug = {name="rp_sounds_dug_stone", gain=0.9, pitch=1.2},
@@ -529,7 +529,7 @@ minetest.register_node(
    {
       description = S("Reinforced Compressed Sandstone"),
       tiles = {"rp_default_reinforced_compressed_sandstone.png"},
-      groups = {cracky = 2, sandstone = 1},
+      groups = {cracky = 2, sandstone = 1, pathfinder_hard = 1},
       is_ground_content = false,
       sounds = rp_sounds.node_sound_stone_defaults({
          dug = {name="rp_sounds_dug_stone", gain=0.9, pitch=1.2},
@@ -549,7 +549,7 @@ minetest.register_node(
       use_texture_alpha = "clip",
       paramtype = "light",
       sunlight_propagates = true,
-      groups = {cracky = 3,oddly_breakable_by_hand = 2, glass=1, paintable=2},
+      groups = {cracky = 3,oddly_breakable_by_hand = 2, glass=1, paintable=2, pathfinder_hard = 1},
       is_ground_content = false,
       sounds = rp_sounds.node_sound_glass_defaults(),
       drop = "rp_default:glass",
@@ -568,7 +568,7 @@ minetest.register_node(
       use_texture_alpha = "blend",
       paramtype = "light",
       sunlight_propagates = true,
-      groups = {cracky = 3,oddly_breakable_by_hand = 2, glass=1, paintable=1, not_in_creative_inventory=1, not_in_craft_guide = 1},
+      groups = {cracky = 3,oddly_breakable_by_hand = 2, glass=1, paintable=1, not_in_creative_inventory=1, not_in_craft_guide = 1, pathfinder_hard = 1},
       is_ground_content = false,
       sounds = rp_sounds.node_sound_glass_defaults(),
       drop = "rp_default:glass",
@@ -598,7 +598,7 @@ for p=1, #planks do
       {
          description = desc,
          tiles = {tex},
-         groups = {planks = 1, wood = 1, choppy = 3, oddly_breakable_by_hand = 3, paintable = 2},
+         groups = {planks = 1, wood = 1, choppy = 3, oddly_breakable_by_hand = 3, paintable = 2, pathfinder_hard = 1},
          is_ground_content = false,
          sounds = rp_sounds.node_sound_planks_defaults(),
          _rp_blast_resistance = 0.5,
@@ -610,7 +610,7 @@ for p=1, #planks do
          tiles = {tex_paint},
          -- HACK: This is a workaround to fix the coloring of the crack overlay
          overlay_tiles = {{name="rp_textures_blank_paintable_overlay.png",color="white"}},
-         groups = {planks = 1, wood = 1, choppy = 3, oddly_breakable_by_hand = 3, paintable = 1, not_in_creative_inventory = 1, not_in_craft_guide = 1},
+         groups = {planks = 1, wood = 1, choppy = 3, oddly_breakable_by_hand = 3, paintable = 1, not_in_creative_inventory = 1, not_in_craft_guide = 1, pathfinder_hard = 1},
          is_ground_content = false,
          sounds = rp_sounds.node_sound_planks_defaults(),
 
@@ -628,7 +628,7 @@ minetest.register_node(
    {
       description = S("Frame"),
       tiles = {"default_frame.png"},
-      groups = {wood = 1, choppy = 2, oddly_breakable_by_hand = 1, paintable = 2},
+      groups = {wood = 1, choppy = 2, oddly_breakable_by_hand = 1, paintable = 2, pathfinder_hard = 1},
       is_ground_content = false,
       sounds = rp_sounds.node_sound_planks_defaults(),
       _rp_blast_resistance = 0.75,
@@ -642,7 +642,7 @@ minetest.register_node(
       overlay_tiles = {{name="rp_textures_blank_paintable_overlay.png",color="white"}},
       paramtype2 = "color",
       palette = "rp_paint_palette_256.png",
-      groups = {wood = 1, choppy = 2, oddly_breakable_by_hand = 1, paintable = 1, not_in_creative_inventory = 1, not_in_craft_guide = 1},
+      groups = {wood = 1, choppy = 2, oddly_breakable_by_hand = 1, paintable = 1, not_in_creative_inventory = 1, not_in_craft_guide = 1, pathfinder_hard = 1},
       is_ground_content = false,
       sounds = rp_sounds.node_sound_planks_defaults(),
       drop = "rp_default:frame",
@@ -654,7 +654,7 @@ minetest.register_node(
    {
       description = S("Reinforced Frame"),
       tiles = {"default_reinforced_frame.png"},
-      groups = {wood = 1, choppy = 1, paintable = 2},
+      groups = {wood = 1, choppy = 1, paintable = 2, pathfinder_hard = 1},
       is_ground_content = false,
       sounds = rp_sounds.node_sound_planks_defaults(),
       _rp_blast_resistance = 5,
@@ -667,7 +667,7 @@ minetest.register_node(
       overlay_tiles = {{name="rp_default_reinforced_frame_overlay.png",color="white"}},
       paramtype2 = "color",
       palette = "rp_paint_palette_256.png",
-      groups = {wood = 1, choppy = 1, paintable = 1, not_in_creative_inventory = 1, not_in_craft_guide = 1},
+      groups = {wood = 1, choppy = 1, paintable = 1, not_in_creative_inventory = 1, not_in_craft_guide = 1, pathfinder_hard = 1},
       is_ground_content = false,
       sounds = rp_sounds.node_sound_planks_defaults(),
       drop = "rp_default:reinforced_frame",
@@ -685,7 +685,7 @@ minetest.register_node(
 	     "rp_default_reed_block_top.png",
 	     "rp_default_reed_block_side.png",
       },
-      groups = {snappy=2, fall_damage_add_percent=-10},
+      groups = {snappy=2, fall_damage_add_percent=-10, pathfinder_soft=1},
       is_ground_content = false,
       sounds = rp_sounds.node_sound_grass_defaults(),
       _rp_blast_resistance = 0.5,
@@ -699,7 +699,7 @@ minetest.register_node(
 	     "rp_default_dried_reed_block_top.png",
 	     "rp_default_dried_reed_block_side.png",
       },
-      groups = {snappy=2, fall_damage_add_percent=-15},
+      groups = {snappy=2, fall_damage_add_percent=-15, pathfinder_soft=1},
       is_ground_content = false,
       sounds = rp_sounds.node_sound_straw_defaults(),
       _rp_blast_resistance = 0.5,
@@ -713,7 +713,7 @@ minetest.register_node(
       tiles = {
 	     "rp_default_hay.png",
       },
-      groups = {snappy=3, fall_damage_add_percent=-30},
+      groups = {snappy=3, fall_damage_add_percent=-30, pathfinder_soft = 1},
       is_ground_content = false,
       sounds = rp_sounds.node_sound_grass_defaults({
          footstep = { name = "rp_default_footstep_hay", gain = 1.0 },
diff --git a/mods/rp_default/nodes_plants.lua b/mods/rp_default/nodes_plants.lua
index 7abe97e3..ec42c4a2 100644
--- a/mods/rp_default/nodes_plants.lua
+++ b/mods/rp_default/nodes_plants.lua
@@ -64,7 +64,7 @@ minetest.register_node(
       },
       tiles = {"default_cactus_top.png", "default_cactus_top.png", "default_cactus_sides.png"},
       --	damage_per_second = 1,
-      groups = {snappy = 2, choppy = 2, fall_damage_add_percent = 20, plant = 1, food = 2},
+      groups = {snappy = 2, choppy = 2, fall_damage_add_percent = 20, plant = 1, food = 2, pathfinder_spiky = 1},
       sounds = rp_sounds.node_sound_defaults({
          footstep = { name = "rp_default_footstep_cactus", gain = 1.0 },
          dig = { name = "rp_default_dig_cactus", gain = 0.5 },
diff --git a/mods/rp_default/nodes_trees.lua b/mods/rp_default/nodes_trees.lua
index 2aa1bb12..c7a5957b 100644
--- a/mods/rp_default/nodes_trees.lua
+++ b/mods/rp_default/nodes_trees.lua
@@ -198,7 +198,7 @@ minetest.register_node(
    {
       description = S("Tree"),
       tiles = {"default_tree_top.png", "default_tree_top.png", "default_tree.png"},
-      groups = {choppy = 2,tree = 1,oddly_breakable_by_hand = 1},
+      groups = {choppy = 2,tree = 1,oddly_breakable_by_hand = 1, pathfinder_hard = 1},
       sounds = snd_tree,
       _rp_blast_resistance = 1,
 })
@@ -208,7 +208,7 @@ minetest.register_node(
    {
       description = S("Oak Tree"),
       tiles = {"default_tree_oak_top.png", "default_tree_oak_top.png", "default_tree_oak.png"},
-      groups = {choppy = 2, tree = 1, oddly_breakable_by_hand = 1},
+      groups = {choppy = 2, tree = 1, oddly_breakable_by_hand = 1, pathfinder_hard = 1},
       sounds = snd_tree,
       _rp_blast_resistance = 1,
 })
@@ -218,7 +218,7 @@ minetest.register_node(
    {
       description = S("Birch Tree"),
       tiles = {"default_tree_birch_top.png", "default_tree_birch_top.png", "default_tree_birch.png"},
-      groups = {choppy = 2, tree = 1, oddly_breakable_by_hand = 1},
+      groups = {choppy = 2, tree = 1, oddly_breakable_by_hand = 1, pathfinder_hard = 1},
       sounds = snd_tree,
       _rp_blast_resistance = 1,
 })
@@ -244,7 +244,7 @@ minetest.register_node(
       tiles = {"default_leaves.png"},
       paramtype = "light",
       waving = 1,
-      groups = {snappy = 3, leafdecay = 3, fall_damage_add_percent = -10, leaves = 1, lush_leaves = 1},
+      groups = {snappy = 3, leafdecay = 3, fall_damage_add_percent = -10, leaves = 1, lush_leaves = 1, pathfinder_fibrous = 1},
       drop = {
 	 max_items = 1,
 	 items = {
@@ -269,7 +269,7 @@ minetest.register_node(
       tiles = {"default_leaves_oak.png"},
       paramtype = "light",
       waving = 1,
-      groups = {snappy = 3, leafdecay = 4, fall_damage_add_percent = -5, leaves = 1, lush_leaves = 1},
+      groups = {snappy = 3, leafdecay = 4, fall_damage_add_percent = -5, leaves = 1, lush_leaves = 1, pathfinder_fibrous = 1},
       drop = {
 	 max_items = 1,
 	 items = {
@@ -294,7 +294,7 @@ minetest.register_node(
       tiles = {"default_leaves_birch.png"},
       paramtype = "light",
       waving = 1,
-      groups = {snappy = 3, leafdecay = 6, fall_damage_add_percent = -5, leaves = 1, lush_leaves = 1},
+      groups = {snappy = 3, leafdecay = 6, fall_damage_add_percent = -5, leaves = 1, lush_leaves = 1, pathfinder_fibrous = 1},
       drop = {
 	 max_items = 1,
 	 items = {
@@ -344,7 +344,7 @@ minetest.register_node(
       tiles = {"default_dry_leaves.png"},
       paramtype = "light",
       waving = 1,
-      groups = {snappy = 3, leafdecay = 3, fall_damage_add_percent = -20, leaves = 1, dry_leaves = 1},
+      groups = {snappy = 3, leafdecay = 3, fall_damage_add_percent = -20, leaves = 1, dry_leaves = 1, pathfinder_fibrous = 1},
       drop = {
 	 max_items = 1,
 	 items = {
diff --git a/mods/rp_door/init.lua b/mods/rp_door/init.lua
index 7d785489..78f73cec 100644
--- a/mods/rp_door/init.lua
+++ b/mods/rp_door/init.lua
@@ -332,6 +332,7 @@ function door.register_door(name, def)
 
    local groups_node = table.copy(def.groups)
    groups_node.not_in_creative_inventory = 1
+   groups_node.pathfinder_thin = 1
 
    local groups_node_b_1 = table.copy(groups_node)
    -- door position: 1 = bottom, 2 = top
diff --git a/mods/rp_farming/nodes.lua b/mods/rp_farming/nodes.lua
index acaf793c..3b7cc905 100644
--- a/mods/rp_farming/nodes.lua
+++ b/mods/rp_farming/nodes.lua
@@ -270,7 +270,7 @@ minetest.register_node(
       is_ground_content = false,
       groups = {snappy = 2, oddly_breakable_by_hand = 3,
                 fall_damage_add_percent = -15, fuzzy = 1,
-		unmagnetic = 1, paintable = 1},
+		unmagnetic = 1, paintable = 1, pathfinder_soft=1},
       sounds = rp_sounds.node_sound_fuzzy_defaults({
          footstep = { name = "rp_sounds_footstep_fuzzy", gain = 0.7, pitch = 1.3 },
          dig = {name="rp_sounds_dig_fuzzy", gain=0.5, pitch = 1.3 },
@@ -290,7 +290,7 @@ minetest.register_node(
       description = S("Straw"),
       tiles = {"rp_farming_straw.png"},
       is_ground_content = false,
-      groups = {snappy = 3, fall_damage_add_percent = -15},
+      groups = {snappy = 3, fall_damage_add_percent = -15, pathfinder_fibrous=1},
       sounds = rp_sounds.node_sound_straw_defaults(),
    }
 )
diff --git a/mods/rp_gold/init.lua b/mods/rp_gold/init.lua
index c942d421..7529ec49 100644
--- a/mods/rp_gold/init.lua
+++ b/mods/rp_gold/init.lua
@@ -402,7 +402,7 @@ minetest.register_node(
    {
       description = S("Stone with Gold"),
       tiles ={"default_stone.png^gold_mineral_gold.png"},
-      groups = {cracky=1, stone=1, ore=1},
+      groups = {cracky=1, stone=1, ore=1, pathfinder_hard=1},
       drop = "rp_gold:lump_gold",
       is_ground_content = true,
       sounds = rp_sounds.node_sound_stone_defaults(),
@@ -431,7 +431,7 @@ minetest.register_node(
    {
       description = S("Gold Block"),
       tiles = {"gold_block.png"},
-      groups = {cracky = 2},
+      groups = {cracky = 2, pathfinder_hard=1},
       sounds = make_metal_sounds(gold.PITCH),
       is_ground_content = false,
       _rp_blast_resistance = 8,
diff --git a/mods/rp_itemshow/init.lua b/mods/rp_itemshow/init.lua
index 65e1b113..6b870375 100644
--- a/mods/rp_itemshow/init.lua
+++ b/mods/rp_itemshow/init.lua
@@ -267,6 +267,7 @@ minetest.register_node("rp_itemshow:frame",{
 	sunlight_propagates = true,
 	groups = {
 		choppy = 2, dig_immediate = 2, creative_decoblock = 1, paintable = 1,
+		pathfinder_thin = 1,
 		-- So that placing a magnocompass on it will point
 		-- the needle to the correct direction
 		special_magnocompass_place_handling = 1},
@@ -347,7 +348,7 @@ minetest.register_node("rp_itemshow:showcase", {
 	tiles = {"rp_itemshow_showcase.png"},
 	use_texture_alpha = "clip",
 	paramtype = "light",
-	groups = { item_showcase = 1, cracky = 3, oddly_breakable_by_hand = 2, uses_canonical_compass = 1, creative_decoblock = 1 },
+	groups = { item_showcase = 1, cracky = 3, oddly_breakable_by_hand = 2, uses_canonical_compass = 1, creative_decoblock = 1, furniture = 1, pathfinder_hard = 1 },
 	sounds = rp_sounds.node_sound_glass_defaults(),
 	is_ground_content = false,
 
diff --git a/mods/rp_jewels/init.lua b/mods/rp_jewels/init.lua
index 2ae5e085..d7065511 100644
--- a/mods/rp_jewels/init.lua
+++ b/mods/rp_jewels/init.lua
@@ -313,7 +313,7 @@ minetest.register_node(
       _tt_help = S("Tools can be upgraded with jewels here"),
       tiles ={"jewels_bench_top.png", "jewels_bench_bottom.png", "jewels_bench_sides.png"},
       paramtype2 = "4dir",
-      groups = {choppy=2,oddly_breakable_by_hand=2,interactive_node=1},
+      groups = {choppy=2,oddly_breakable_by_hand=2,interactive_node=1,furniture=1,pathfinder_hard=1},
       is_ground_content = false,
       sounds = rp_sounds.node_sound_wood_defaults(),
 
diff --git a/mods/rp_locks/init.lua b/mods/rp_locks/init.lua
index d50ca044..25eb53e0 100644
--- a/mods/rp_locks/init.lua
+++ b/mods/rp_locks/init.lua
@@ -297,7 +297,7 @@ local chest_def = {
       },
       use_texture_alpha = "blend",
       paramtype2 = "4dir",
-      groups = {choppy = 2, oddly_breakable_by_hand = 2, level = -1, locked = 1, chest = 2, container = 1, paintable = 2},
+      groups = {choppy = 2, oddly_breakable_by_hand = 2, level = -1, locked = 1, chest = 2, container = 1, paintable = 2, furniture = 1, pathfinder_hard = 1},
       is_ground_content = false,
       sounds = rp_sounds.node_sound_planks_defaults(),
       on_construct = function(pos)
diff --git a/mods/rp_lumien/init.lua b/mods/rp_lumien/init.lua
index 744bff7f..d234dee5 100644
--- a/mods/rp_lumien/init.lua
+++ b/mods/rp_lumien/init.lua
@@ -101,7 +101,7 @@ minetest.register_node(
          end
       end,
 
-      groups = {crumbly = 3, not_in_creative_inventory = 1},
+      groups = {crumbly = 3, not_in_creative_inventory = 1, furniture = 1, pathfinder_hard = 1},
       light_source = LUMIEN_CRYSTAL_LIGHT_MAX,
       _rp_itemshow_offset = vector.new(-0.2, 0, -0.2),
       drop = "rp_lumien:crystal_off",
@@ -143,7 +143,7 @@ minetest.register_node(
          end
       end,
 
-      groups = {crumbly = 3, creative_decoblock = 1},
+      groups = {crumbly = 3, creative_decoblock = 1, furniture = 1, pathfinder_hard = 1},
       light_source = LUMIEN_CRYSTAL_LIGHT_MIN,
       _tt_light_source_max = LUMIEN_CRYSTAL_LIGHT_MAX,
       _rp_itemshow_offset = vector.new(-0.2, 0, -0.2),
@@ -155,7 +155,7 @@ minetest.register_node(
    {
       description = S("Lumien Block"),
       tiles = {"lumien_block.png"},
-      groups = {cracky = 1, mineral_natural=1},
+      groups = {cracky = 1, mineral_natural=1, pathfinder_hard = 1},
       light_source = LUMIEN_BLOCK_LIGHT,
       sounds = get_sounds(),
       _rp_blast_resistance = 3,
diff --git a/mods/rp_mobs_mobs/crafts.lua b/mods/rp_mobs_mobs/crafts.lua
index 2b447f87..08722568 100644
--- a/mods/rp_mobs_mobs/crafts.lua
+++ b/mods/rp_mobs_mobs/crafts.lua
@@ -15,7 +15,7 @@ minetest.register_node(
       -- HACK: This is a workaround to fix the coloring of the crack overlay
       overlay_tiles = {{name="rp_textures_blank_paintable_overlay.png",color="white"}},
       is_ground_content = false,
-      groups = {snappy = 2, oddly_breakable_by_hand = 3, fall_damage_add_percent = -25, fuzzy = 1, unmagnetic = 1, paintable = 1},
+      groups = {snappy = 2, oddly_breakable_by_hand = 3, fall_damage_add_percent = -25, fuzzy = 1, unmagnetic = 1, paintable = 1, pathfinder_soft = 1},
       sounds = rp_sounds.node_sound_fuzzy_defaults(),
       paramtype2 = "color",
       palette = "rp_paint_palette_256.png",
diff --git a/mods/rp_mobs_mobs/mobs/villager.lua b/mods/rp_mobs_mobs/mobs/villager.lua
index 562f22d9..dd0a2c1b 100644
--- a/mods/rp_mobs_mobs/mobs/villager.lua
+++ b/mods/rp_mobs_mobs/mobs/villager.lua
@@ -66,11 +66,8 @@ local is_node_walkable = function(node)
 	if not def then
 		-- Unknown nodes are walkable
 		return true
-	elseif node.name == "rp_itemshow:frame" then
-		-- Item frames are to thin to walk *on*
-		return false
-	elseif minetest.get_item_group(node.name, "door") ~= 0 then
-		-- Same for doors
+	elseif minetest.get_item_group(node.name, "pathfinder_thin") ~= 0 then
+		-- Refuse to walk on very thin nodes like item frames to avoid fall-through
 		return false
 	elseif minetest.get_item_group(node.name, "fence") ~= 0 or minetest.get_item_group(node.name, "fence_gate") ~= 0 then
 		-- We refuse to walk on fences and fence gates (although we could)
@@ -161,6 +158,26 @@ local is_node_swimmable = function(node)
 	end
 end
 
+-- Cost function for rp_pathfinder. Returns the cost of walking
+-- *on* a node.
+local function get_floor_cost(node)
+	local nn = node.name
+	if nn == "rp_default:heated_dirt_path" then
+		return 1
+	elseif nn == "rp_default:cactus" or nn == "rp_tnt:tnt" or nn == "rp_tnt:tnt_burning" then
+		return 100
+	elseif minetest.get_item_group(nn, "furniture") ~= 0 then
+		return 50
+	elseif minetest.get_item_group(nn, "path") ~= 0 then
+		return 2
+	elseif minetest.get_item_group(nn, "pathfinder_hard") ~= 0 then
+		return 4
+	else
+		return 6
+	end
+end
+
+
 local PATHFINDER_SEARCHDISTANCE = 30
 local PATHFINDER_TIMEOUT = 1.0
 local PATHFINDER_OPTIONS = {
@@ -172,6 +189,7 @@ local PATHFINDER_OPTIONS = {
 	respect_disable_jump = true,
 	handler_walkable = is_node_walkable,
 	handler_blocking = is_node_blocking,
+	get_floor_cost = get_floor_cost,
 	use_vmanip = true,
 }
 
diff --git a/mods/rp_music/init.lua b/mods/rp_music/init.lua
index c7ccb288..66d28d6b 100644
--- a/mods/rp_music/init.lua
+++ b/mods/rp_music/init.lua
@@ -294,7 +294,7 @@ if minetest.settings:get_bool("music_enable") then
             rp_music.toggle(pos)
 	 end,
 
-	 groups = {handy = 3, attached_node = 1, interactive_node = 1, paintable = 1},
+	 groups = {handy = 3, attached_node = 1, interactive_node = 1, paintable = 1, furniture = 1, pathfinder_hard = 1},
 
 	 drop = "rp_music:player",
    })
@@ -369,7 +369,7 @@ else
             note_particle(pos, "rp_music_no_music.png")
          end,
 
-	 groups = {handy = 3, attached_node = 1, interactive_node = 1}
+	 groups = {handy = 3, attached_node = 1, interactive_node = 1, furniture = 1, pathfinder_hard = 1}
    })
 end
 
diff --git a/mods/rp_partialblocks/register.lua b/mods/rp_partialblocks/register.lua
index 3e1e8ac6..8923fb7d 100644
--- a/mods/rp_partialblocks/register.lua
+++ b/mods/rp_partialblocks/register.lua
@@ -11,35 +11,35 @@ local empty_overlay = {{name="rp_textures_blank_paintable_overlay.png",color="wh
 -- Stonelike materials
 
 partialblocks.register_material(
-   "cobble", S("Cobble Slab"), S("Cobble Stair"), "rp_default:cobble", {cracky=3}, false, nil, "w")
+   "cobble", S("Cobble Slab"), S("Cobble Stair"), "rp_default:cobble", {cracky=3, pathfinder_hard=1}, false, nil, "w")
 
 partialblocks.register_material(
-   "stone", S("Stone Slab"), S("Stone Stair"), "rp_default:stone", {cracky=2}, false, nil, "w")
+   "stone", S("Stone Slab"), S("Stone Stair"), "rp_default:stone", {cracky=2, pathfinder_hard=1}, false, nil, "w")
 
 partialblocks.register_material(
-   "sandstone", S("Sandstone Slab"), S("Sandstone Stair"), "rp_default:sandstone", {crumbly=2, cracky=3}, false, nil, "w")
+   "sandstone", S("Sandstone Slab"), S("Sandstone Stair"), "rp_default:sandstone", {crumbly=2, cracky=3, pathfinder_hard=1}, false, nil, "w")
 
 partialblocks.register_material(
-   "brick", S("Brick Slab"), S("Brick Stair"), "rp_default:brick", {cracky=2, paintable=2}, false, nil, "w")
+   "brick", S("Brick Slab"), S("Brick Stair"), "rp_default:brick", {cracky=2, paintable=2, pathfinder_hard=1}, false, nil, "w")
 partialblocks.register_material(
-   "brick_painted", S("Painted Brick Slab"), S("Painted Brick Stair"), "rp_default:brick_painted", {cracky=2, paintable=1, not_in_creative_inventory=1}, false, nil, "w", nil, "w", false)
+   "brick_painted", S("Painted Brick Slab"), S("Painted Brick Stair"), "rp_default:brick_painted", {cracky=2, paintable=1, pathfinder_hard=1, not_in_creative_inventory=1}, false, nil, "w", nil, "w", false)
 
 -- Woodlike
 
 partialblocks.register_material(
-   "wood", S("Wooden Slab"), S("Wooden Stair"), "rp_default:planks", {choppy = 3, oddly_breakable_by_hand = 3, paintable = 2}, true, nil, "w")
+   "wood", S("Wooden Slab"), S("Wooden Stair"), "rp_default:planks", {choppy = 3, oddly_breakable_by_hand = 3, paintable = 2, pathfinder_hard=1}, true, nil, "w")
 partialblocks.register_material(
-   "wood_painted", S("Painted Wooden Slab"), S("Painted Wooden Stair"), "rp_default:planks_painted", {choppy = 3, oddly_breakable_by_hand = 3, not_in_creative_inventory=1, paintable = 1}, true, nil, "w", empty_overlay, "w", false)
+   "wood_painted", S("Painted Wooden Slab"), S("Painted Wooden Stair"), "rp_default:planks_painted", {choppy = 3, oddly_breakable_by_hand = 3, not_in_creative_inventory=1, paintable = 1, pathfinder_hard=1}, true, nil, "w", empty_overlay, "w", false)
 
 partialblocks.register_material(
-   "oak", S("Oak Slab"), S("Oak Stair"), "rp_default:planks_oak", {choppy = 3, oddly_breakable_by_hand = 3, paintable = 2}, true, nil, "w")
+   "oak", S("Oak Slab"), S("Oak Stair"), "rp_default:planks_oak", {choppy = 3, oddly_breakable_by_hand = 3, paintable = 2, pathfinder_hard=1}, true, nil, "w")
 partialblocks.register_material(
-   "oak_painted", S("Painted Oak Slab"), S("Painted Oak Stair"), "rp_default:planks_oak_painted", {choppy = 3, oddly_breakable_by_hand = 3, not_in_creative_inventory=1, paintable = 1}, true, nil, "w", empty_overlay, "w", false)
+   "oak_painted", S("Painted Oak Slab"), S("Painted Oak Stair"), "rp_default:planks_oak_painted", {choppy = 3, oddly_breakable_by_hand = 3, not_in_creative_inventory=1, paintable = 1, pathfinder_hard=1}, true, nil, "w", empty_overlay, "w", false)
 
 partialblocks.register_material(
-   "birch", S("Birch Slab"), S("Birch Stair"), "rp_default:planks_birch", {choppy = 3, oddly_breakable_by_hand = 3, paintable = 2}, true, nil, "w")
+   "birch", S("Birch Slab"), S("Birch Stair"), "rp_default:planks_birch", {choppy = 3, oddly_breakable_by_hand = 3, paintable = 2, pathfinder_hard=1}, true, nil, "w")
 partialblocks.register_material(
-   "birch_painted", S("Painted Birch Slab"), S("Painted Birch Stair"), "rp_default:planks_birch_painted", {choppy = 3, oddly_breakable_by_hand = 3, not_in_creative_inventory=1, paintable = 1}, true, nil, "w", empty_overlay, "w", false)
+   "birch_painted", S("Painted Birch Slab"), S("Painted Birch Stair"), "rp_default:planks_birch_painted", {choppy = 3, oddly_breakable_by_hand = 3, not_in_creative_inventory=1, paintable = 1, pathfinder_hard=1}, true, nil, "w", empty_overlay, "w", false)
 
 partialblocks.register_material(
    "fir", S("Fir Slab"), S("Fir Stair"), "rp_default:planks_fir", {choppy = 3, oddly_breakable_by_hand = 3, paintable = 2}, true, nil, "w")
@@ -49,60 +49,60 @@ partialblocks.register_material(
 -- Reed
 
 partialblocks.register_material(
-   "reed", S("Reed Slab"), S("Reed Stair"), "rp_default:reed_block", {snappy = 2, fall_damage_add_percent=-10}, true, nil, "w")
+   "reed", S("Reed Slab"), S("Reed Stair"), "rp_default:reed_block", {snappy = 2, fall_damage_add_percent=-10, pathfinder_soft=1}, true, nil, "w")
 
 partialblocks.register_material(
-   "dried_reed", S("Dried Reed Slab"), S("Dried Reed Stair"), "rp_default:dried_reed_block", {snappy = 2, fall_damage_add_percent=-15}, true, nil, "w")
+   "dried_reed", S("Dried Reed Slab"), S("Dried Reed Stair"), "rp_default:dried_reed_block", {snappy = 2, fall_damage_add_percent=-15, pathfinder_soft=1}, true, nil, "w")
 
 partialblocks.register_material(
-   "straw", S("Straw Slab"), S("Straw Stair"), "rp_farming:straw", {snappy = 3, fall_damage_add_percent=-15}, true, nil, "w")
+   "straw", S("Straw Slab"), S("Straw Stair"), "rp_farming:straw", {snappy = 3, fall_damage_add_percent=-15, pathfinder_soft=1}, true, nil, "w")
 
 partialblocks.register_material(
-   "hay", S("Hay Slab"), S("Hay Stair"), "rp_default:hay", {snappy = 3, fall_damage_add_percent=-30}, true, nil, "w")
+   "hay", S("Hay Slab"), S("Hay Stair"), "rp_default:hay", {snappy = 3, fall_damage_add_percent=-30, pathfinder_soft=1}, true, nil, "w")
 
 -- Frames
 
 partialblocks.register_material(
-   "frame", S("Frame Slab"), S("Frame Stair"), "rp_default:frame", {choppy = 2, oddly_breakable_by_hand = 1, paintable = 2}, true, "a|"..pbp.."frame", "a|"..pbp.."frame")
+   "frame", S("Frame Slab"), S("Frame Stair"), "rp_default:frame", {choppy = 2, oddly_breakable_by_hand = 1, paintable = 2, pathfinder_hard=1}, true, "a|"..pbp.."frame", "a|"..pbp.."frame")
 partialblocks.register_material(
-   "frame_painted", S("Painted Frame Slab"), S("Painted Frame Stair"), "rp_default:frame_painted", {choppy = 2, oddly_breakable_by_hand = 1, not_in_creative_inventory=1, paintable = 1}, true, "a|"..pbp.."frame_painted", "a|"..pbp.."frame_painted", nil, nil, false)
+   "frame_painted", S("Painted Frame Slab"), S("Painted Frame Stair"), "rp_default:frame_painted", {choppy = 2, oddly_breakable_by_hand = 1, not_in_creative_inventory=1, paintable = 1, pathfinder_hard=1}, true, "a|"..pbp.."frame_painted", "a|"..pbp.."frame_painted", nil, nil, false)
 
 -- The reinforced partialblocks have their level forced to 0, so are as hard to dig as the basenode. They're reinforced, after all.
 partialblocks.register_material(
-   "reinforced_frame", S("Reinforced Frame Slab"), S("Reinforced Frame Stair"), "rp_default:reinforced_frame", {choppy = 1, level = 0, paintable = 2}, true, "a|"..pbp.."reinforced_frame", "a|"..pbp.."reinforced_frame")
+   "reinforced_frame", S("Reinforced Frame Slab"), S("Reinforced Frame Stair"), "rp_default:reinforced_frame", {choppy = 1, level = 0, paintable = 2, pathfinder_hard=1}, true, "a|"..pbp.."reinforced_frame", "a|"..pbp.."reinforced_frame")
 partialblocks.register_material(
-   "reinforced_frame_painted", S("Painted Reinforced Frame Slab"), S("Painted Reinforced Frame Stair"), "rp_default:reinforced_frame_painted", {choppy = 1, level = 0, not_in_creative_inventory=1, paintable = 1}, true, "a|"..pbp.."reinforced_frame_painted", "a|"..pbp.."reinforced_frame_painted", "A|"..pbp.."reinforced_frame_painted_overlay", "A|"..pbp.."reinforced_frame_painted_overlay", false)
+   "reinforced_frame_painted", S("Painted Reinforced Frame Slab"), S("Painted Reinforced Frame Stair"), "rp_default:reinforced_frame_painted", {choppy = 1, level = 0, not_in_creative_inventory=1, paintable = 1, pathfinder_hard=1}, true, "a|"..pbp.."reinforced_frame_painted", "a|"..pbp.."reinforced_frame_painted", "A|"..pbp.."reinforced_frame_painted_overlay", "A|"..pbp.."reinforced_frame_painted_overlay", false)
 
 partialblocks.register_material(
-   "reinforced_cobble", S("Reinforced Cobble Slab"), S("Reinforced Cobble Stair"), "rp_default:reinforced_cobble", {cracky = 1, level = 0}, false, "A|"..pbp.."reinforced_cobbles", "A|"..pbp.."reinforced_cobbles")
+   "reinforced_cobble", S("Reinforced Cobble Slab"), S("Reinforced Cobble Stair"), "rp_default:reinforced_cobble", {cracky = 1, level = 0, pathfinder_hard=1}, false, "A|"..pbp.."reinforced_cobbles", "A|"..pbp.."reinforced_cobbles")
 
 -- Coal
 
 partialblocks.register_material(
-   "coal", S("Coal Slab"), S("Coal Stair"), "rp_default:block_coal", { cracky = 3 }, true, "a|"..pbp.."block_coal", "a|"..pbp.."block_coal")
+   "coal", S("Coal Slab"), S("Coal Stair"), "rp_default:block_coal", { cracky = 3, pathfinder_spiky = 1 }, true, "a|"..pbp.."block_coal", "a|"..pbp.."block_coal")
 
 -- Metal
 
 partialblocks.register_material(
-   "steel", S("Steel Slab"), S("Steel Stair"), "rp_default:block_steel", { cracky = 2, level = 0 }, false, "a|"..pbp.."block_steel", "a|"..pbp.."block_steel")
+   "steel", S("Steel Slab"), S("Steel Stair"), "rp_default:block_steel", { cracky = 2, level = 0, pathfinder_hard=1 }, false, "a|"..pbp.."block_steel", "a|"..pbp.."block_steel")
 
 partialblocks.register_material(
-   "carbon_steel", S("Carbon Steel Slab"), S("Carbon Steel Stair"), "rp_default:block_carbon_steel", { cracky = 1, level = 0 }, false, "a|"..pbp.."block_carbon_steel", "a|"..pbp.."block_carbon_steel")
+   "carbon_steel", S("Carbon Steel Slab"), S("Carbon Steel Stair"), "rp_default:block_carbon_steel", { cracky = 1, level = 0, pathfinder_hard=1 }, false, "a|"..pbp.."block_carbon_steel", "a|"..pbp.."block_carbon_steel")
 
 partialblocks.register_material(
-   "wrought_iron", S("Wrought Iron Slab"), S("Wrought Iron Stair"), "rp_default:block_wrought_iron", { cracky = 2, magnetic = 1 }, false, "a|"..pbp.."block_wrought_iron", "a|"..pbp.."block_wrought_iron")
+   "wrought_iron", S("Wrought Iron Slab"), S("Wrought Iron Stair"), "rp_default:block_wrought_iron", { cracky = 2, magnetic = 1, pathfinder_hard=1 }, false, "a|"..pbp.."block_wrought_iron", "a|"..pbp.."block_wrought_iron")
 
 partialblocks.register_material(
-   "bronze", S("Bronze Slab"), S("Bronze Stair"), "rp_default:block_bronze", { cracky = 1, level = 0 }, false, "a|"..pbp.."block_bronze", "a|"..pbp.."block_bronze")
+   "bronze", S("Bronze Slab"), S("Bronze Stair"), "rp_default:block_bronze", { cracky = 1, level = 0, pathfinder_hard=1 }, false, "a|"..pbp.."block_bronze", "a|"..pbp.."block_bronze")
 
 partialblocks.register_material(
-   "copper", S("Copper Slab"), S("Copper Stair"), "rp_default:block_copper", { cracky = 2 }, false, "a|"..pbp.."block_copper", "a|"..pbp.."block_copper")
+   "copper", S("Copper Slab"), S("Copper Stair"), "rp_default:block_copper", { cracky = 2, pathfinder_hard=1 }, false, "a|"..pbp.."block_copper", "a|"..pbp.."block_copper")
 
 partialblocks.register_material(
-   "tin", S("Tin Slab"), S("Tin Stair"), "rp_default:block_tin", { cracky = 2, level = 0 }, false, "a|"..pbp.."block_tin", "a|"..pbp.."block_tin")
+   "tin", S("Tin Slab"), S("Tin Stair"), "rp_default:block_tin", { cracky = 2, level = 0, pathfinder_hard=1 }, false, "a|"..pbp.."block_tin", "a|"..pbp.."block_tin")
 
 partialblocks.register_material(
-   "gold", S("Gold Slab"), S("Gold Stair"), "rp_gold:block_gold", { cracky = 2 }, false, "a|"..pbp.."block_gold", "a|"..pbp.."block_gold")
+   "gold", S("Gold Slab"), S("Gold Stair"), "rp_gold:block_gold", { cracky = 2, pathfinder_hard=1 }, false, "a|"..pbp.."block_gold", "a|"..pbp.."block_gold")
 
 -- Compressed sandstone
 local cs_stair_tiles = {
@@ -113,7 +113,7 @@ local cs_stair_tiles = {
 	"default_compressed_sandstone.png",
 	"default_compressed_sandstone.png" }
 partialblocks.register_material(
-   "compressed_sandstone", S("Compressed Sandstone Slab"), S("Compressed Sandstone Stair"), "rp_default:compressed_sandstone", { cracky = 2 }, false, nil, cs_stair_tiles)
+   "compressed_sandstone", S("Compressed Sandstone Slab"), S("Compressed Sandstone Stair"), "rp_default:compressed_sandstone", { cracky = 2, pathfinder_hard=1 }, false, nil, cs_stair_tiles)
 
 partialblocks.register_material(
-   "reinforced_compressed_sandstone", S("Reinforced Compressed Sandstone Slab"), S("Reinforced Compressed Sandstone Stair"), "rp_default:reinforced_compressed_sandstone", { cracky = 2 }, false, "a|"..pbp.."reinforced_compressed_sandstone", "a|"..pbp.."reinforced_compressed_sandstone")
+   "reinforced_compressed_sandstone", S("Reinforced Compressed Sandstone Slab"), S("Reinforced Compressed Sandstone Stair"), "rp_default:reinforced_compressed_sandstone", { cracky = 2, pathfinder_hard=1 }, false, "a|"..pbp.."reinforced_compressed_sandstone", "a|"..pbp.."reinforced_compressed_sandstone")
diff --git a/mods/rp_pathfinder/API.md b/mods/rp_pathfinder/API.md
index 29d9bd83..59986607 100644
--- a/mods/rp_pathfinder/API.md
+++ b/mods/rp_pathfinder/API.md
@@ -44,6 +44,13 @@ restrictions and does not cut corners.
 	* `handler_climbable`: A function that takes a node table and returns
           true if the node is considered climable
           (default: if `climbing` field of node is true)
+	* `get_floor_cost`: Function that takes a node table and returns
+           the cost (a number) of walking _on_ the given node. The villager searches
+           for the path with the lowest total cost. By default, the cost is 1
+           for all nodes. The function _MUST NOT_ return a negative cost!
+           It’s recommended this function utilizes pathfinder node groups
+           as laid out in `DEV_GROUPS.md` in the root Repixture directory.
+           But it’s not mandatory to only rely on these groups.
 	* `use_vmanip`: If true, nodes will be queried using a LuaVoxelManip;
 	  otherwise, `minetest.get_node` will be used. Required for async
 	  usage.
diff --git a/mods/rp_pathfinder/init.lua b/mods/rp_pathfinder/init.lua
index b866a401..5bfcaf61 100644
--- a/mods/rp_pathfinder/init.lua
+++ b/mods/rp_pathfinder/init.lua
@@ -104,14 +104,19 @@ local function get_distance_2d(pos1, pos2)
 	return distX + distZ
 end
 
--- 3D distance heuristic between pos1 and pos2
-local function get_distance_3d(pos1, pos2)
-	local distX = math.abs(pos1.x - pos2.x)
-	local distY = math.abs(pos1.y - pos2.y)
-	local distZ = math.abs(pos1.z - pos2.z)
-
-	-- Manhattan distance
-	return distX + distY + distZ
+-- Get actual cost to walk from pos1 to pos2 (which must be a neighbor)
+-- * pos1: Origin position
+-- * pos2: Target position (neighbor of pos1)
+-- * get_node: get_node function
+-- * get_floor_cost(node): Function that, given a node table, returns the
+--   cost of walking *on* this node (default cost is 1)
+local function get_neighbor_cost(pos1, pos2, get_node, get_floor_cost)
+	if not get_floor_cost then
+		return 1
+	end
+	local floor = vector.offset(pos2, 0, -1, 0)
+	local floornode = get_node(floor)
+	return get_floor_cost(floornode)
 end
 
 -- Checks nodes above pos to be non-blocking.
@@ -364,6 +369,7 @@ function rp_pathfinder.find_path(pos1, pos2, searchdistance, options, timeout)
 	local max_jump = options.max_jump or 0
 	local respect_disable_jump = options.respect_disable_jump or false
 	local respect_climb_restrictions = options.respect_climb_restrictions
+	local get_floor_cost = options.get_floor_cost
 	if respect_climb_restrictions == nil then
 		respect_climb_restrictions = true
 	end
@@ -446,7 +452,7 @@ function rp_pathfinder.find_path(pos1, pos2, searchdistance, options, timeout)
 
 	-- Add the first search node to open set at the start
 
-	local h_first = get_distance_3d(pos1, pos2)
+	local h_first = get_neighbor_cost(pos1, pos2, get_node, get_floor_cost)
 	set_search_node(open_set, start_hash, {
 		pos = pos1,
 		parent = nil,
@@ -577,7 +583,7 @@ function rp_pathfinder.find_path(pos1, pos2, searchdistance, options, timeout)
 				local g = 0 -- cost from start
 				local h -- estimated cost from search node to finish
 				local f -- g+h
-				local neighbor_cost = current_data.g + get_distance_3d(current_data.pos, neighbor.pos)
+				local neighbor_cost = current_data.g + get_neighbor_cost(current_data.pos, neighbor.pos, get_node, get_floor_cost)
 				local neighbor_data = get_search_node(open_set, neighbor.hash)
 				local neighbor_exists
 				if neighbor_data then
@@ -587,7 +593,7 @@ function rp_pathfinder.find_path(pos1, pos2, searchdistance, options, timeout)
 					neighbor_exists = false
 				end
 				if not neighbor_exists or neighbor_cost < g then
-					h = get_distance_3d(neighbor.pos, pos2)
+					h = get_neighbor_cost(neighbor.pos, pos2, get_node, get_floor_cost)
 					g = neighbor_cost
 					f = g + h
 					set_search_node(open_set, neighbor.hash, {
diff --git a/mods/rp_tnt/init.lua b/mods/rp_tnt/init.lua
index a584404d..4d5b69c1 100644
--- a/mods/rp_tnt/init.lua
+++ b/mods/rp_tnt/init.lua
@@ -198,7 +198,7 @@ minetest.register_node(
       _rp_tt_has_ignitible_text = true, -- prevent rp_tt mod from adding automatic tooltip
       tiles = {top_tex, "tnt_bottom.png", "tnt_sides.png"},
       is_ground_content = false,
-      groups = {handy = 2, interactive_node=1},
+      groups = {handy = 2, interactive_node=1, pathfinder_hard=1},
       sounds = rp_sounds.node_sound_wood_defaults(),
 
       on_blast = function(pos, intensity)
@@ -243,7 +243,7 @@ minetest.register_node(
       light_source = 5,
       drop = "",
       is_ground_content = false,
-      groups = {handy = 2, not_in_creative_inventory=1},
+      groups = {handy = 2, not_in_creative_inventory=1, pathfinder_hard=1},
       sounds = rp_sounds.node_sound_wood_defaults(),
       on_timer = tnt_burning_on_timer,
       on_construct = function(pos)