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I've mentioned including forum categories in the URL before. I use that kind of structure to my benefit with tools like Google Custom Search.

For example, if I only wanted GCS to index threads under a category called "Avoiding Hookworms", I could define

http://barefootparadise.com/avoiding-hookworms.8/*

However there are inherent drawbacks to this structure. The biggest is probably that when a  thread is moved, the URL changes. Whether or not the drawbacks outweighs  the benefits is debatable, but I think for a default option the current  URL is best. It draws more focus to the topic and when threads are  moved, the links remain the same. This is good for maintaining position  on search engines.

Also, I think Mike might have mentioned something about the forum being coded in such a way that it can't easily be changed.

Would be a useful mod though.