diff --git a/actions/actions.lua b/actions/actions.lua
index 8555f7c..7995481 100644
--- a/actions/actions.lua
+++ b/actions/actions.lua
@@ -165,6 +165,15 @@ function npc.actions.take_item_from_external_inventory(args)
   return false
 end
 
+function npc.actions.get_openable_node_state(node)
+  local state = npc.actions.door_state.CLOSED
+  local a_i1, a_i2 = string.find(node.name, "_a")
+  if a_i1 == nil then
+    state = npc.actions.door_state.OPEN
+  end
+  return state
+end
+
 -- This function is used to open or close doors from
 -- that use the default doors mod
 function npc.actions.use_door(args)
@@ -172,12 +181,8 @@ function npc.actions.use_door(args)
   local pos = args.pos
   local action = args.action
   local node = minetest.get_node(pos)
-  local state = npc.actions.door_state.CLOSED
-  local a_i1, a_i2 = string.find(node.name, "_a")
-  if a_i1 == nil then
-    state = npc.actions.door_state.OPEN
-  end
-  --minetest.log("Node: "..dump(node)..". State: "..dump(state)..", Action: "..dump(action))
+  local state = npc.actions.get_openable_node_state(node)
+
   local clicker = self.object
   if action ~= state then
     minetest.registered_nodes[node.name].on_rightclick(pos, node, clicker, nil, nil)
@@ -268,6 +273,17 @@ function npc.actions.walk_to_pos(self, end_pos)
       end
       -- Get direction to move from path[i] to path[i+1]
       local dir = npc.actions.get_direction(path[i].pos, path[i+1].pos)
+      -- Check if next node is a door, if it is, open it, then walk
+      if path[i+1].type == "O" then
+        -- Check if door is already open
+        local node = minetest.get_node(path[i+1].pos)
+        if npc.actions.get_openable_node_state(node) == npc.actions.door_state.CLOSED then
+          -- Stop to open door, this avoids misplaced movements later on
+          npc.add_action(self, npc.actions.stand, {self = self})
+          -- Open door
+          npc.add_action(self, npc.actions.use_door, {self=self, pos=path[i+1].pos, action=npc.actions.door_action.OPEN})
+        end
+      end
       -- Add walk action to action queue
       npc.add_action(self, npc.actions.walk_step, {self = self, dir = dir})
     end
diff --git a/npc.lua b/npc.lua
index 45753da..02c56d1 100755
--- a/npc.lua
+++ b/npc.lua
@@ -346,11 +346,11 @@ local function npc_spawn(self, pos)
   ent.places_map = {}
 
   -- Temporary initialization of actions for testing
-  local nodes = npc.places.find_new_nearby(ent, {"doors:door_wood_a", "doors:door_wood_b"}, 2)
-  npc.add_action(ent, npc.actions.use_door, {self = ent, pos = nodes[1], action = npc.actions.door_action.OPEN})
+  local nodes = npc.places.find_new_nearby(ent, {"default:furnace"}, 20)
+  --npc.add_action(ent, npc.actions.use_door, {self = ent, pos = nodes[1], action = npc.actions.door_action.OPEN})
   --npc.add_action(ent, npc.actions.stand, {self = ent})
-  --npc.add_action(ent, npc.actions.stand, {self = ent}
-  --npc.actions.walk_to_pos(ent, nodes[1])
+  npc.add_action(ent, npc.actions.stand, {self = ent})
+  npc.actions.walk_to_pos(ent, nodes[1])
   -- npc.add_action(ent, npc.action.stand, {self = ent})
   -- npc.add_action(ent, npc.action.stand, {self = ent})
   -- npc.add_action(ent, npc.action.walk_step, {self = ent, dir = npc.direction.east})