Is Floor Work supposed to hurt?

My knees, ankles, tail bone, ?top of spine bone? and hip bones are so bruised and hurt like a mother! I never thought of myself as boney, but wooden floors are extremely unforgiving to whatever jutting part is rubbing against them. I'm hoping this eases with practice. I tried using my area rug, and carpet burn was even worse than the hard wood floor. Does the hurt of floor work operate the same way as pole burn - meaning over time, does it get less painful as you become accustomed to the moves? I'm thinking of investing in some Kindermats.