Adding & Installing Hydronic floor heat is this a viable option?

[Gimpy]

I’d like to get some input concerning Hydronic heat. I would like to put some piping in the floor of my bathroom and hallway and connect it to my AquaHot. Will copper work for this? Plastic? What kind of material would go under the tubing? What kind of material would go over the tubing? From the AquaHot to the beginning of the piping system will be about 5’. The tubing would need to cover approx. 23 sq.ft. Would the system need a pump? Is this a viable option? Any advice, comments, cautions welcome.