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However, if you aren't a spiritualist and have AI/Robot pops legal, you can colonize planets with robots after getting the Droids tech. Its actually awesome and I highly recommend it if you aren't scared of the contingency AI rebellion as late game crisis.
If i can i prefer green habitability(70%+).
The lower the habitability the more expensive the upkeep.
Early game i cant afford that upkeep and mid game i useally got tarraforming.
The only reasons for me to colonize red are:
1: Doomday origin.
2: I am trying to get the superhuman event(i believe it is tied to pop living on poor habbital worlds)
3: I am trying to force the self modification event by putting them an a undisareble world.
4: I am playing machine/have driod workers(as they dont care for habitability)
Yellow worlds are only acceptiable if they have massive districs too make up for there lack of habitability.
Even then it is risky.
Remember the reasons why robots where so overpowered(and argueable still are) is because they could colonize everything from the start.
So unless your rich enough to pay the high upkeep.
Only colonize 70%+ worlds.
I keep the bio pops there at the absolute minimum and build up robots to mine the basic resources. Any bio pop that gets grown there after that, I will resettle to my main worlds
Main reason is because your population is the most important resource in the game. So I try to squeeze out as much pop growth as I can early on, to then snowball out of control later
As for what is my threshold? I'll settle anything within my biome type. So if I am continental that includes ocean and tropical.
Remember that hab hits everything important. The pops require more CGs, Food and amenities, grow slower and even take a production (to everything job) hit. So its genuinely hard to make a red hab come out positive.
This is why its generally a very good idea to acquire pops of new biome preferences as soon as you can. If you are friendly this is very easy. Set your envoy to improve relations and after a little while they will ask you for the migration treaty themselves. Then you can make a colony ship with their species and settle the planets you were going for.
If you are unfriendly then robots are a good option. Keep moving bio pops off the planet beyond the necessary to keep it stable (the two ruler pops) and just have the robots do the work. Early game they can only do food and minerals but as soon as you get droids they can do most jobs.
Final note. This is one of the primary reasons Lithoids are so good even though they have a 25% growth penalty. Hab is 1% growth penalty per 2% under 100%. So their 50% hab overrides the 25% penalty on low hab planets and they are effective on literally everything, even tomb worlds.
Usually I colonize only green planet, so 70+ abitability
After that if the planet is green habitability the place is usually fine with amenities for the next couple dozen pops but if its a red planet I usually need to get some entertainment jobs up and running.