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How Do You Teach A Dog The Difference Between Carpet And Grass?

I have a 3 year old female cockapoo that is mostly housebroken. She will not pee inside the house, she waits to be taken outside but she will poo poo inside. However, she only poops on carpet, if there isn’t any carpet available, she will wait to go outside. Apparently she knows that what she is doing is bad because she runs from me afterward. So does anyone have any ideas about teaching her the difference between carpet and grass?