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I can't C#, I honestly don't think anyone has coded anything that forced a pawn to stay on a certain terrain. The closest thing would be the Boats mod.
I was asking re: outside, because I would like a cleaning robot that can only clean on smooth surfaces (smoothed stone, constructed floor). Heck, I wouldn't want it to be able to *move* on anything but smooth/constructed floors. That would require more C# code, tho.
the robot just goes off of what rimworld's "clean" job giver does.
there used to be a mod called "cleaning zone" or something like that and it would work with that mod as well but no one has updated it at least i don't think.
so the default behavior is to just clean and clean. imagine a normal colonist that only knows how to clean.