How do I make Pathfinding only go on certain parts?

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#1

What I am trying to do is make it so a rig will move along a path without touching the floor part.

I want it to not touch the red part but it can touch and walk on every other part and walk too the black dot:

(I used colors to show that it is different parts, I don’t want it to not walk on the color red, I just want it to not walk on that certain part.)
image

#2

You can use the Pathfinding Modifiers to make walking over the red part undesirable. Check the following article and scroll down to the Pathfinding Modifiers section: