diff --git a/Extensions/Extensions.csproj b/Extensions/Extensions.csproj
index 5580e20..b63c50d 100644
--- a/Extensions/Extensions.csproj
+++ b/Extensions/Extensions.csproj
@@ -44,30 +44,34 @@
     <Reference Include="Costura, Version=3.1.0.0, Culture=neutral, PublicKeyToken=9919ef960d84173d, processorArchitecture=MSIL">
       <HintPath>..\packages\Costura.Fody.3.1.0\lib\net46\Costura.dll</HintPath>
     </Reference>
+    <Reference Include="Eto, Version=2.4.6752.17745, Culture=neutral, PublicKeyToken=552281e97c755530, processorArchitecture=MSIL">
+      <HintPath>..\packages\RhinoCommon.6.6.18177.16151\lib\net45\Eto.dll</HintPath>
+    </Reference>
     <Reference Include="geometry3Sharp, Version=1.0.144.0, Culture=neutral, processorArchitecture=MSIL">
       <HintPath>..\packages\geometry3Sharp.1.0.144\lib\net45\geometry3Sharp.dll</HintPath>
     </Reference>
-    <Reference Include="GH_IO">
-      <HintPath>..\..\..\..\..\..\Program Files\Rhino 6\Plug-ins\Grasshopper\GH_IO.dll</HintPath>
-      <Private>False</Private>
+    <Reference Include="GH_IO, Version=6.6.18177.16150, Culture=neutral, PublicKeyToken=6a29997d2e6b4f97, processorArchitecture=MSIL">
+      <HintPath>..\packages\Grasshopper.6.6.18177.16151\lib\net45\GH_IO.dll</HintPath>
     </Reference>
-    <Reference Include="Grasshopper">
-      <HintPath>..\..\..\..\..\..\Program Files\Rhino 6\Plug-ins\Grasshopper\Grasshopper.dll</HintPath>
-      <Private>False</Private>
+    <Reference Include="Grasshopper, Version=6.6.18177.16150, Culture=neutral, PublicKeyToken=dda4f5ec2cd80803, processorArchitecture=MSIL">
+      <HintPath>..\packages\Grasshopper.6.6.18177.16151\lib\net45\Grasshopper.dll</HintPath>
     </Reference>
     <Reference Include="MoreLinq, Version=3.0.0.0, Culture=neutral, PublicKeyToken=384d532d7e88985d, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
       <HintPath>..\packages\morelinq.3.0.0\lib\net451\MoreLinq.dll</HintPath>
     </Reference>
-    <Reference Include="RhinoCommon">
-      <HintPath>..\..\..\..\..\..\Program Files\Rhino 6\System\RhinoCommon.dll</HintPath>
-      <Private>False</Private>
+    <Reference Include="Rhino.UI, Version=6.6.18177.16150, Culture=neutral, PublicKeyToken=552281e97c755530, processorArchitecture=MSIL">
+      <HintPath>..\packages\RhinoCommon.6.6.18177.16151\lib\net45\Rhino.UI.dll</HintPath>
+    </Reference>
+    <Reference Include="RhinoCommon, Version=6.6.18177.16150, Culture=neutral, PublicKeyToken=552281e97c755530, processorArchitecture=MSIL">
+      <HintPath>..\packages\RhinoCommon.6.6.18177.16151\lib\net45\RhinoCommon.dll</HintPath>
     </Reference>
     <Reference Include="Robots">
-      <SpecificVersion>False</SpecificVersion>
       <HintPath>..\..\..\..\AppData\Roaming\Grasshopper\Libraries\Robots.dll</HintPath>
+      <SpecificVersion>False</SpecificVersion>
       <Private>False</Private>
     </Reference>
-    <Reference Include="RobotsGH, Version=1.0.0.1, Culture=neutral, processorArchitecture=MSIL">
+    <Reference Include="RobotsGH, Culture=neutral, processorArchitecture=MSIL">
       <HintPath>..\..\..\..\AppData\Roaming\Grasshopper\Libraries\Robots.gha</HintPath>
       <SpecificVersion>False</SpecificVersion>
       <Private>False</Private>
@@ -96,6 +100,7 @@
     <Compile Include="Model\Discrete\VoxelTiles.cs" />
     <Compile Include="Model\Document\Cache.cs" />
     <Compile Include="Model\Document\Debug.cs" />
+    <Compile Include="Model\Document\DisplayGeometry.cs" />
     <Compile Include="Model\Document\IO.cs" />
     <Compile Include="Model\Geometry\BallPivot.cs" />
     <Compile Include="Model\Geometry\PolygonFill.cs" />
@@ -113,25 +118,29 @@
     <Compile Include="Model\Spatial\BucketSearch.cs" />
     <Compile Include="Model\Spatial\Octree.cs" />
     <Compile Include="Model\Spatial\Primitives.cs" />
+    <Compile Include="Model\Toolpaths\Milling\MillingAttributes.cs" />
+    <Compile Include="Model\Toolpaths\Milling\MillingToolpath.cs" />
     <Compile Include="Model\Toolpaths\SpatialExtrusion\SpatialAttributes.cs" />
     <Compile Include="Model\Toolpaths\SpatialExtrusion\SpatialExtrusion.cs" />
     <Compile Include="Model\Toolpaths\CSVConverter.cs" />
     <Compile Include="Model\Toolpaths\SpatialExtrusion\Vertex.cs" />
     <Compile Include="Model\Util.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
     <Compile Include="Properties\Resources.Designer.cs">
       <AutoGen>True</AutoGen>
       <DesignTime>True</DesignTime>
       <DependentUpon>Resources.resx</DependentUpon>
     </Compile>
-    <Compile Include="Properties\AssemblyInfo.cs" />
     <Compile Include="View\Discrete\VoxelTiles.cs" />
     <Compile Include="View\Discrete\CurveSnap.cs" />
-    <Compile Include="View\Document\DisplayStyle.cs" />
+    <Compile Include="View\Document\DisplayGeometry.cs" />
     <Compile Include="View\Document\Upload.cs" />
     <Compile Include="View\Geometry\DifferentialGrowth.cs" />
     <Compile Include="View\Discrete\UnityExport.cs" />
     <Compile Include="View\Document\Export.cs" />
     <Compile Include="View\Goo.cs" />
+    <Compile Include="View\Toolpaths\MillingToolpath.cs" />
+    <Compile Include="View\Toolpaths\MillingAttributes.cs" />
     <Compile Include="View\Toolpaths\LayeredToolpath.cs" />
     <Compile Include="View\Geometry\Remesher.cs" />
     <Compile Include="View\Geometry\StraightSkeleton.cs" />
@@ -145,8 +154,8 @@
   <ItemGroup>
     <EmbeddedResource Include="Properties\Resources.resx">
       <Generator>ResXFileCodeGenerator</Generator>
-      <LastGenOutput>Resources.Designer.cs</LastGenOutput>
       <SubType>Designer</SubType>
+      <LastGenOutput>Resources.Designer.cs</LastGenOutput>
     </EmbeddedResource>
   </ItemGroup>
   <ItemGroup>
@@ -154,7 +163,6 @@
     <None Include="Extensions.ruleset" />
     <None Include="packages.config" />
     <None Include="Resources\Icons\PaintBrush01.png" />
-    <None Include="Resources\Robots.gha" />
   </ItemGroup>
   <ItemGroup>
     <None Include="Resources\Icons\PaintBrush02.png" />
@@ -212,6 +220,21 @@
   <ItemGroup>
     <None Include="Resources\Icons\EyeParam.png" />
   </ItemGroup>
+  <ItemGroup>
+    <None Include="Resources\Icons\LayerConfig.png" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="Resources\Icons\LayersSubtract.png" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="Resources\Icons\LayersAdd.png" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="Resources\Icons\LayersClean.png" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="Resources\Icons\LayersConfigParam.png" />
+  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
   <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
        Other similar extension points exist, see Microsoft.Common.targets.
@@ -243,6 +266,10 @@ Erase "$(TargetPath)"</PostBuildEvent>
     </PropertyGroup>
     <Error Condition="!Exists('..\packages\Fody.3.1.3\build\Fody.targets')" Text="$([System.String]::Format('$(ErrorText)', '..\packages\Fody.3.1.3\build\Fody.targets'))" />
     <Error Condition="!Exists('..\packages\Costura.Fody.3.1.0\build\Costura.Fody.targets')" Text="$([System.String]::Format('$(ErrorText)', '..\packages\Costura.Fody.3.1.0\build\Costura.Fody.targets'))" />
+    <Error Condition="!Exists('..\packages\RhinoCommon.6.6.18177.16151\build\net45\RhinoCommon.targets')" Text="$([System.String]::Format('$(ErrorText)', '..\packages\RhinoCommon.6.6.18177.16151\build\net45\RhinoCommon.targets'))" />
+    <Error Condition="!Exists('..\packages\Grasshopper.6.6.18177.16151\build\net45\Grasshopper.targets')" Text="$([System.String]::Format('$(ErrorText)', '..\packages\Grasshopper.6.6.18177.16151\build\net45\Grasshopper.targets'))" />
   </Target>
   <Import Project="..\packages\Costura.Fody.3.1.0\build\Costura.Fody.targets" Condition="Exists('..\packages\Costura.Fody.3.1.0\build\Costura.Fody.targets')" />
+  <Import Project="..\packages\RhinoCommon.6.6.18177.16151\build\net45\RhinoCommon.targets" Condition="Exists('..\packages\RhinoCommon.6.6.18177.16151\build\net45\RhinoCommon.targets')" />
+  <Import Project="..\packages\Grasshopper.6.6.18177.16151\build\net45\Grasshopper.targets" Condition="Exists('..\packages\Grasshopper.6.6.18177.16151\build\net45\Grasshopper.targets')" />
 </Project>
\ No newline at end of file
diff --git a/Extensions/Model/Document/DisplayGeometry.cs b/Extensions/Model/Document/DisplayGeometry.cs
new file mode 100644
index 0000000..4403048
--- /dev/null
+++ b/Extensions/Model/Document/DisplayGeometry.cs
@@ -0,0 +1,101 @@
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Drawing;
+using Rhino.Geometry;
+using Rhino.DocObjects;
+using System.Net;
+using System.Threading.Tasks;
+using Rhino.UI;
+using Rhino.Display;
+using Rhino;
+
+namespace Extensions.Model.Document
+{
+
+    public class DisplayGeometry
+    {
+        public GeometryBase Geometry { get; set; }
+        public DisplayMaterial Material { get; set; }
+        public string Layer { get; set; }
+
+        public DisplayGeometry(GeometryBase geometry, DisplayMaterial material, string layer = "")
+        {
+            Geometry = geometry;
+            Material = material;
+            Layer = layer;
+        }
+
+        public Guid Bake(RhinoDoc doc, ObjectAttributes att = null, bool flipYZ = false)
+        {
+            if (att == null) att = doc.CreateDefaultAttributes();
+
+            if (!string.IsNullOrEmpty(Layer))
+            {
+                var layer = doc.Layers.FindName(Layer, RhinoMath.UnsetIntIndex);
+
+                if (layer == null)
+                {
+                    att.LayerIndex = doc.Layers.Add(new Layer() { Name = Layer });
+                }
+                else
+                {
+                    att.LayerIndex = layer.Index;
+                }
+            }
+
+            var geometry = Geometry;
+
+            if (Geometry is Mesh)
+            {
+                if (flipYZ)
+                    geometry = (Geometry as Mesh).FlipYZ();
+
+                if (Material != null)
+                {
+                    att.ColorSource = ObjectColorSource.ColorFromMaterial;
+                    att.MaterialSource = ObjectMaterialSource.MaterialFromObject;
+
+                    double transparency = Material.Transparency;
+                    if (flipYZ) transparency = 1 - transparency;
+
+                    var material = new Material
+                    {
+                        DiffuseColor = Material.Diffuse,
+                        EmissionColor = Material.Emission,
+                        Transparency = transparency
+                    };
+
+                    var texture = Material.GetBitmapTexture(true);
+
+                    if (texture != null)
+                        material.SetBitmapTexture(texture);
+
+                    var matIndex = doc.Materials.Add(material);
+                    att.MaterialIndex = matIndex;
+                }
+            }
+            else if (Material != null)
+            {
+                att.ColorSource = ObjectColorSource.ColorFromObject;
+                att.ObjectColor = Material.Diffuse;
+            }
+
+            return doc.Objects.Add(geometry, att);
+        }
+
+        public DisplayGeometry Duplicate()
+        {
+            return new DisplayGeometry(Geometry.Duplicate(), new DisplayMaterial(Material), Layer);
+        }
+
+        public DisplayGeometry Transform(Transform xform)
+        {
+            var copy = Duplicate();
+            copy.Geometry.Transform(xform);
+            return copy;
+        }
+
+        public override string ToString() => $"Display Geometry ({Geometry.ObjectType}, {Material?.Diffuse.Name ?? "Default"}, {Layer ?? "Active"})";
+    }
+}
\ No newline at end of file
diff --git a/Extensions/Model/Document/IO.cs b/Extensions/Model/Document/IO.cs
index dca5d73..ddd1683 100644
--- a/Extensions/Model/Document/IO.cs
+++ b/Extensions/Model/Document/IO.cs
@@ -7,43 +7,48 @@
 using System.Net;
 using System.Threading.Tasks;
 using Rhino.UI;
+using Rhino.Display;
+using Rhino;
 
 namespace Extensions.Model.Document
 {
     public static class IO
     {
-        public static string Export(List<DisplayStyle> geometries, int exportType, string folder, string fileName)
+        public enum ExportType { HTML, FBX };
+
+        public static string Export(List<DisplayGeometry> geometries, ExportType exportType, string folder, string fileName)
         {
-            var doc = Rhino.RhinoDoc.ActiveDoc;
+            var doc = RhinoDoc.ActiveDoc;
             var guids = new List<Guid>(geometries.Count);
 
+            bool flipYZ = exportType == ExportType.FBX;
+
             foreach (var geometry in geometries)
             {
-                int layerIndex;
+                guids.Add(geometry.Bake(doc, null, flipYZ));
+            }
 
-                var layer = doc.Layers.FindName(geometry.Layer, Rhino.RhinoMath.UnsetIntIndex);
+            doc.Objects.UnselectAll(false);
+            doc.Objects.Select(guids, true);
 
-                if (layer == null)
-                {
-                    layerIndex = doc.Layers.Add(new Layer() { Name = geometry.Layer });
-                }
-                else
-                {
-                    layerIndex = layer.Index;
-                }
-
-                var att = new ObjectAttributes
-                {
-                    ColorSource = ObjectColorSource.ColorFromObject,
-                    ObjectColor = geometry.Color,
-                    LayerIndex = layerIndex
-                };
+            string filePath = Path.Combine(folder, fileName);
 
-                guids.Add(doc.Objects.Add(geometry.Geometry, att));
+            switch (exportType)
+            {
+                case ExportType.HTML:
+                    {
+                        RhinoApp.RunScript($"-_Export \"{filePath}.html\" ui=yes launch=yes _Enter", false);
+                        break;
+                    }
+                case ExportType.FBX:
+                    {
+                        RhinoApp.RunScript($"-_Export \"{filePath}.fbx\" _Enter _Enter", false);
+                        break;
+                    }
+                default:
+                    break;
             }
 
-            string filePath = Path.Combine(folder, $"{fileName}.html");
-            Rhino.RhinoApp.RunScript($"-_SaveAs \"{filePath}\" ui=yes launch=yes _Enter", false);
             doc.Objects.Delete(guids, true);
 
             return filePath;
@@ -55,7 +60,7 @@ public static void FtpUpload(string localFilePath, string url, string user, stri
         {
             if (_uploadTask != null && !_uploadTask.IsCompleted)
             {
-                Rhino.RhinoApp.WriteLine("Please wait until the last upload has completed.");
+                RhinoApp.WriteLine("Please wait until the last upload has completed.");
                 return;
             }
 
@@ -87,30 +92,14 @@ public static void FtpUpload(string localFilePath, string url, string user, stri
                     }
                 }
 
-                Rhino.RhinoApp.InvokeOnUiThread(new Action(() => StatusBar.HideProgressMeter()));
+                RhinoApp.InvokeOnUiThread(new Action(() => StatusBar.HideProgressMeter()));
 
                 using (FtpWebResponse response = (FtpWebResponse)request.GetResponse())
                 {
                     Action text = () => Rhino.RhinoApp.WriteLine($"Web upload of file '{fileName}.html' complete, status: {response.StatusDescription}");
-                    Rhino.RhinoApp.InvokeOnUiThread(text);
+                    RhinoApp.InvokeOnUiThread(text);
                 }
             });
         }
     }
-
-    public class DisplayStyle
-    {
-        public GeometryBase Geometry { get; set; }
-        public Color Color { get; set; }
-        public string Layer { get; set; }
-
-        public DisplayStyle(GeometryBase geometry, Color color, string layer = "")
-        {
-            Geometry = geometry;
-            Color = color;
-            Layer = layer;
-        }
-
-        public override string ToString() => $"Display Style ({Geometry.ObjectType}, {Color.Name}, {Layer})";
-    }
 }
\ No newline at end of file
diff --git a/Extensions/Model/Rendering/RenderExtensions.cs b/Extensions/Model/Rendering/RenderExtensions.cs
index b8c14af..bf97c79 100644
--- a/Extensions/Model/Rendering/RenderExtensions.cs
+++ b/Extensions/Model/Rendering/RenderExtensions.cs
@@ -11,7 +11,8 @@ public static class RenderExtensions
     {
         public static Mesh BitmapFromVertexColors(Mesh mesh, string file)
         {          
-            if (!Directory.Exists(Path.GetDirectoryName(file))) throw new FileNotFoundException($" File \"{file}\" not found.", file);
+            var path = Path.GetDirectoryName(file);
+            if (!Directory.Exists(path)) throw new DirectoryNotFoundException($" Directory \"{path}\" not found.");
 
             mesh.Unweld(0, false);
             mesh.TextureCoordinates.Clear();
@@ -54,12 +55,17 @@ public static Mesh BitmapFromVertexColors(Mesh mesh, string file)
             }
 
             bitmap.Save(file, System.Drawing.Imaging.ImageFormat.Png);
+
+            mesh.VertexColors.Clear();
+
             return mesh;
         }
 
         public static IEnumerable<Mesh> BitmapFromSolidColoredMeshes(IEnumerable<Mesh> meshes, string file)
         {
-            if (!Directory.Exists(Path.GetDirectoryName(file))) throw new FileNotFoundException($" File \"{file}\" not found.", file);
+            var path = Path.GetDirectoryName(file);
+            if (!Directory.Exists(path)) throw new DirectoryNotFoundException($" Directory \"{path}\" not found.");
+
             int count = meshes.Count();
             int size = (int)Math.Ceiling(Math.Sqrt(count));
             float fSize = (float)size * 2;
diff --git a/Extensions/Model/Toolpaths/CSVConverter.cs b/Extensions/Model/Toolpaths/CSVConverter.cs
index f0a7bfd..82746d9 100644
--- a/Extensions/Model/Toolpaths/CSVConverter.cs
+++ b/Extensions/Model/Toolpaths/CSVConverter.cs
@@ -5,7 +5,7 @@
 using Rhino.Geometry;
 using Robots;
 
-namespace Extensions.Toolpaths
+namespace Extensions.Model.Toolpaths
 {
     // pX,pY,pZ,nX,nY,nZ,F'
 
diff --git a/Extensions/Model/Toolpaths/Column.cs b/Extensions/Model/Toolpaths/Column.cs
index bf79c25..8892edf 100644
--- a/Extensions/Model/Toolpaths/Column.cs
+++ b/Extensions/Model/Toolpaths/Column.cs
@@ -9,7 +9,7 @@
 using MoreLinq;
 using static System.Math;
 
-namespace Extensions.Model.Toolpath
+namespace Extensions.Model.Toolpaths
 {
     class Column
     {
diff --git a/Extensions/Model/Toolpaths/Milling/MillingAttributes.cs b/Extensions/Model/Toolpaths/Milling/MillingAttributes.cs
new file mode 100644
index 0000000..f7a31ff
--- /dev/null
+++ b/Extensions/Model/Toolpaths/Milling/MillingAttributes.cs
@@ -0,0 +1,54 @@
+using System;
+using System.Collections.Generic;
+using Rhino.Geometry;
+using Robots;
+using Robots.Commands;
+
+namespace Extensions.Model.Toolpaths.Milling
+{
+    public class EndMill
+    {
+        public enum Geometry { Flat, Ball }
+
+        public double Diameter { get; set; }
+        public double Length { get; set; }
+        public double CutLength { get; set; }
+        public Geometry Nose { get; set; }
+    }
+
+    public class MillingAttributes
+    {
+        public Target ReferenceTarget { get; set; }
+
+        public EndMill EndMill { get; set; }
+        public double StepOver { get; set; }
+        public double StepDown { get; set; }
+
+        public double SafeZOffset { get; set; }
+
+        public Speed SafeSpeed { get; set; }
+        public Speed PlungeSpeed { get; set; }
+        public Speed CutSpeed { get; set; }
+
+        public Zone SafeZone { get; set; }
+        public Zone PlungeZone { get; set; }
+        public Zone CutZone { get; set; }
+
+        public MillingAttributes(Target referenceTarget, EndMill endMill, double stepOver, double stepDown, double safeZOffset, double safeSpeed, double plungeSpeed, double cutSpeed, double cutZone)
+        {
+            ReferenceTarget = referenceTarget;
+            EndMill = endMill;
+            StepOver = stepOver;
+            StepDown = stepDown;
+            SafeZOffset = safeZOffset;
+
+            SafeSpeed = new Speed(name: "SafeSpeed", translation: safeSpeed);
+            PlungeSpeed = new Speed(name: "PlungeSpeed", translation: plungeSpeed);
+            CutSpeed = new Speed(name: "CutSpeed", translation: cutSpeed);
+
+            SafeZone = new Zone(endMill.Diameter, "SafeZone");
+            PlungeZone = new Zone(0, "PlungeZone");
+            CutZone = new Zone(cutZone, "CutZone");
+        }
+    }
+}
\ No newline at end of file
diff --git a/Extensions/Model/Toolpaths/Milling/MillingToolpath.cs b/Extensions/Model/Toolpaths/Milling/MillingToolpath.cs
new file mode 100644
index 0000000..fc375f2
--- /dev/null
+++ b/Extensions/Model/Toolpaths/Milling/MillingToolpath.cs
@@ -0,0 +1,90 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using Rhino.Geometry;
+using Robots;
+using Robots.Commands;
+using static System.Math;
+using static Extensions.Model.Util;
+
+namespace Extensions.Model.Toolpaths.Milling
+{
+    class MillingToolpath
+    {
+        readonly MillingAttributes _att;
+        readonly Tool _tool;
+        readonly BoundingBox _bbox;
+
+        public List<Target> Targets { get; set; } = new List<Target>();
+        public List<int> SubPrograms { get; set; } = new List<int>();
+
+        public MillingToolpath(IList<Polyline> paths, BoundingBox box, MillingAttributes attributes)
+        {
+            _att = attributes;
+            _bbox = box;
+            _tool = CreateTool();
+            CreateTargets(paths);
+        }
+
+        void CreateTargets(IList<Polyline> paths)
+        {
+            Point3d current = Point3d.Unset;
+
+            var safeZ = _bbox.Max.Z + _att.SafeZOffset;
+
+            foreach (var path in paths)
+            {
+                var first = path[0];
+                var last = path[path.Count - 1];
+
+                var firstSafe = new Point3d(first.X, first.Y, safeZ);
+                Targets.Add(CreateTarget(firstSafe, _att.SafeSpeed, _att.SafeZone));
+
+                var firstOffset = first + Vector3d.ZAxis * _att.SafeZOffset;
+                Targets.Add(CreateTarget(firstOffset, _att.SafeSpeed, _att.SafeZone));
+
+                Targets.Add(CreateTarget(first, _att.PlungeSpeed, _att.PlungeZone));
+
+                for (int i = 1; i < path.Count - 1; i++)
+                    Targets.Add(CreateTarget(path[i], _att.CutSpeed, _att.CutZone));
+
+                Targets.Add(CreateTarget(last, _att.CutSpeed, _att.PlungeZone));
+
+                var lastOffset = last + Vector3d.ZAxis * _att.SafeZOffset;
+                Targets.Add(CreateTarget(lastOffset, _att.PlungeSpeed, _att.PlungeZone));
+
+                var lastSafe = new Point3d(last.X, last.Y, safeZ);
+                Targets.Add(CreateTarget(lastSafe, _att.SafeSpeed, _att.SafeZone));
+
+                SubPrograms.Add(Targets.Count);
+            }
+        }
+
+        Tool CreateTool()
+        {
+            var refTool = _att.ReferenceTarget.Tool;
+            var tcp = refTool.Tcp;
+            bool translate = tcp.Translate(-tcp.Normal * _att.EndMill.Length);
+
+            Mesh toolGeometry = refTool.Mesh.DuplicateMesh();
+            Cylinder endMillCylinder = new Cylinder(new Circle(tcp, _att.EndMill.Diameter * 0.5), _att.EndMill.Length);
+            Mesh endMillGeometry = Mesh.CreateFromCylinder(endMillCylinder, 1, 8);
+            toolGeometry.Append(endMillGeometry);
+
+            string name = $"{refTool.Name}_{_att.EndMill.Diameter:0}mm";
+
+            var tool = new Tool(tcp, name, refTool.Weight, refTool.Centroid, toolGeometry);
+            return tool;
+        }
+
+
+        Target CreateTarget(Point3d position, Speed speed, Zone zone = null)
+        {
+            var plane = Plane.WorldXY;
+            plane.Origin = position;
+            var frame = _att.ReferenceTarget.Frame;
+            var target = new CartesianTarget(plane, null, Target.Motions.Linear, _tool, speed, zone, null, frame, null);
+            return target;
+        }
+    }
+}
diff --git a/Extensions/Model/Toolpaths/SpatialExtrusion/SpatialAttributes.cs b/Extensions/Model/Toolpaths/SpatialExtrusion/SpatialAttributes.cs
index 02523fe..8363823 100644
--- a/Extensions/Model/Toolpaths/SpatialExtrusion/SpatialAttributes.cs
+++ b/Extensions/Model/Toolpaths/SpatialExtrusion/SpatialAttributes.cs
@@ -4,7 +4,7 @@
 using Robots;
 using Robots.Commands;
 
-namespace Extensions.Toolpaths
+namespace Extensions.Model.Toolpaths.SpatialExtrusion
 {
     internal class SpatialAttributes
     {
diff --git a/Extensions/Model/Toolpaths/SpatialExtrusion/SpatialExtrusion.cs b/Extensions/Model/Toolpaths/SpatialExtrusion/SpatialExtrusion.cs
index 08ea6f7..30c4407 100644
--- a/Extensions/Model/Toolpaths/SpatialExtrusion/SpatialExtrusion.cs
+++ b/Extensions/Model/Toolpaths/SpatialExtrusion/SpatialExtrusion.cs
@@ -3,12 +3,12 @@
 using Rhino.Geometry;
 using Robots;
 
-namespace Extensions.Toolpaths
+namespace Extensions.Model.Toolpaths.SpatialExtrusion
 {
-    internal class SpatialExtrusion
+     class SpatialExtrusion
     {
-        public List<Target> Targets { get; private set; } = new List<Target>();
-        public List<(Line segment, int type)> Display { get; private set; } = new List<(Line segment, int type)>();
+        public List<Target> Targets { get; } = new List<Target>();
+        public List<(Line segment, int type)> Display { get; } = new List<(Line segment, int type)>();
 
         public SpatialExtrusion(IEnumerable<Polyline> polylines, SpatialAttributes attributes)
         {
diff --git a/Extensions/Model/Toolpaths/SpatialExtrusion/Vertex.cs b/Extensions/Model/Toolpaths/SpatialExtrusion/Vertex.cs
index 0a42774..8441418 100644
--- a/Extensions/Model/Toolpaths/SpatialExtrusion/Vertex.cs
+++ b/Extensions/Model/Toolpaths/SpatialExtrusion/Vertex.cs
@@ -7,7 +7,7 @@
 using static System.Math;
 
 
-namespace Extensions.Toolpaths
+namespace Extensions.Model.Toolpaths.SpatialExtrusion
 {
     class Vertex
     {
diff --git a/Extensions/Model/Util.cs b/Extensions/Model/Util.cs
index 7b1443a..6074f7c 100644
--- a/Extensions/Model/Util.cs
+++ b/Extensions/Model/Util.cs
@@ -1,5 +1,6 @@
 using System;
 using System.Collections.Generic;
+using System.Linq;
 using Rhino.Geometry;
 using static System.Math;
 
@@ -146,5 +147,20 @@ public static Point3d ClosestPointFast(this Polyline pl, Point3d testPoint)
             double pt = s_min + t_min;
             return pl.PointAt(pt);
         }
+
+        public static Mesh FlipYZ(this Mesh mesh)
+        {
+            var vertices = mesh.Vertices.Select(v => new Point3d(v.X, v.Z, -v.Y)).ToList();
+            var normals = mesh.Normals.Select(v => new Vector3f(v.X, v.Z, -v.Y)).ToArray();
+            var uv = mesh.TextureCoordinates.ToArray();
+            var faces = mesh.Faces;
+
+            var result = new Mesh();
+            result.Vertices.AddVertices(vertices);
+            result.Normals.AddRange(normals);
+            result.Faces.AddFaces(faces);
+            result.TextureCoordinates.AddRange(uv);
+            return result;
+        }
     }
 }
\ No newline at end of file
diff --git a/Extensions/Properties/AssemblyInfo.cs b/Extensions/Properties/AssemblyInfo.cs
index a83c2b9..71898f3 100644
--- a/Extensions/Properties/AssemblyInfo.cs
+++ b/Extensions/Properties/AssemblyInfo.cs
@@ -6,6 +6,7 @@
 using System.Drawing;
 using Rhino.PlugIns;
 using Grasshopper.Kernel;
+using System.Linq;
 
 [assembly: AssemblyTitle("Extensions")]
 [assembly: AssemblyDescription("Assorted components for Grasshopper")]
@@ -49,13 +50,14 @@ public ExtensionsInfo()
             {
                 Rhino.RhinoApp.WriteLine("Extensions plugin: Some components that require the Robots plugin will not be loaded.");
             }
+
         }
 
-        public override string Name => "Extensions";
+        public override string Name => Assembly.GetCustomAttribute<AssemblyTitleAttribute>().Title;
         public override Bitmap Icon => Properties.Resources.DCLLogo;
-        public override string Description => "Assorted components for Grasshopper";
+        public override string Description => Assembly.GetCustomAttribute<AssemblyDescriptionAttribute>().Description;
         public override Guid Id => new Guid("29035877-56b2-45cd-b65d-bf19a046d30b");
-        public override string AuthorName => "Design Computation Lab - UCL";
+        public override string AuthorName => Assembly.GetCustomAttribute<AssemblyCompanyAttribute>().Company;
         public override string AuthorContact => "v.soler@ucl.ac.uk";
     }
 }
\ No newline at end of file
diff --git a/Extensions/Properties/Resources.Designer.cs b/Extensions/Properties/Resources.Designer.cs
index 988db4a..b8e3c71 100644
--- a/Extensions/Properties/Resources.Designer.cs
+++ b/Extensions/Properties/Resources.Designer.cs
@@ -170,6 +170,56 @@ internal static System.Drawing.Bitmap Layers {
             }
         }
         
+        /// <summary>
+        ///   Looks up a localized resource of type System.Drawing.Bitmap.
+        /// </summary>
+        internal static System.Drawing.Bitmap LayersAdd {
+            get {
+                object obj = ResourceManager.GetObject("LayersAdd", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
+        /// <summary>
+        ///   Looks up a localized resource of type System.Drawing.Bitmap.
+        /// </summary>
+        internal static System.Drawing.Bitmap LayersClean {
+            get {
+                object obj = ResourceManager.GetObject("LayersClean", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
+        /// <summary>
+        ///   Looks up a localized resource of type System.Drawing.Bitmap.
+        /// </summary>
+        internal static System.Drawing.Bitmap LayersConfig {
+            get {
+                object obj = ResourceManager.GetObject("LayersConfig", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
+        /// <summary>
+        ///   Looks up a localized resource of type System.Drawing.Bitmap.
+        /// </summary>
+        internal static System.Drawing.Bitmap LayersConfigParam {
+            get {
+                object obj = ResourceManager.GetObject("LayersConfigParam", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
+        /// <summary>
+        ///   Looks up a localized resource of type System.Drawing.Bitmap.
+        /// </summary>
+        internal static System.Drawing.Bitmap LayersSubtract {
+            get {
+                object obj = ResourceManager.GetObject("LayersSubtract", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
         /// <summary>
         ///   Looks up a localized resource of type System.Drawing.Bitmap.
         /// </summary>
@@ -210,16 +260,6 @@ internal static System.Drawing.Bitmap Puzzle {
             }
         }
         
-        /// <summary>
-        ///   Looks up a localized resource of type System.Byte[].
-        /// </summary>
-        internal static byte[] Robots {
-            get {
-                object obj = ResourceManager.GetObject("Robots", resourceCulture);
-                return ((byte[])(obj));
-            }
-        }
-        
         /// <summary>
         ///   Looks up a localized resource of type System.Drawing.Bitmap.
         /// </summary>
diff --git a/Extensions/Properties/Resources.resx b/Extensions/Properties/Resources.resx
index cbf5963..f104651 100644
--- a/Extensions/Properties/Resources.resx
+++ b/Extensions/Properties/Resources.resx
@@ -148,9 +148,24 @@
   <data name="Grid" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\Icons\Grid.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
+  <data name="LayersConfig" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\Icons\LayersConfig.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
   <data name="Layers" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\Icons\Layers.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
+  <data name="LayersAdd" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\Icons\LayersAdd.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="LayersClean" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\Icons\LayersClean.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="LayersConfigParam" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\Icons\LayersConfigParam.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="LayersSubtract" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Resources\Icons\LayersSubtract.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
   <data name="PaintBrush01" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\Icons\PaintBrush01.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
@@ -163,9 +178,6 @@
   <data name="Puzzle" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\resources\icons\puzzle.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
-  <data name="Robots" type="System.Resources.ResXFileRef, System.Windows.Forms">
-    <value>..\Resources\Robots.gha;System.Byte[], mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
-  </data>
   <data name="Save" type="System.Resources.ResXFileRef, System.Windows.Forms">
     <value>..\Resources\Icons\Save.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
   </data>
diff --git a/Extensions/Resources/Icons/LayersAdd.png b/Extensions/Resources/Icons/LayersAdd.png
new file mode 100644
index 0000000..89b1523
Binary files /dev/null and b/Extensions/Resources/Icons/LayersAdd.png differ
diff --git a/Extensions/Resources/Icons/LayersClean.png b/Extensions/Resources/Icons/LayersClean.png
new file mode 100644
index 0000000..09fb1dd
Binary files /dev/null and b/Extensions/Resources/Icons/LayersClean.png differ
diff --git a/Extensions/Resources/Icons/LayersConfig.png b/Extensions/Resources/Icons/LayersConfig.png
new file mode 100644
index 0000000..98e96f9
Binary files /dev/null and b/Extensions/Resources/Icons/LayersConfig.png differ
diff --git a/Extensions/Resources/Icons/LayersConfigParam.png b/Extensions/Resources/Icons/LayersConfigParam.png
new file mode 100644
index 0000000..f2f6886
Binary files /dev/null and b/Extensions/Resources/Icons/LayersConfigParam.png differ
diff --git a/Extensions/Resources/Icons/LayersSubtract.png b/Extensions/Resources/Icons/LayersSubtract.png
new file mode 100644
index 0000000..5c60542
Binary files /dev/null and b/Extensions/Resources/Icons/LayersSubtract.png differ
diff --git a/Extensions/Resources/Robots.gha b/Extensions/Resources/Robots.gha
deleted file mode 100644
index 905ed6a..0000000
Binary files a/Extensions/Resources/Robots.gha and /dev/null differ
diff --git a/Extensions/View/Document/DisplayGeometry.cs b/Extensions/View/Document/DisplayGeometry.cs
new file mode 100644
index 0000000..1721391
--- /dev/null
+++ b/Extensions/View/Document/DisplayGeometry.cs
@@ -0,0 +1,50 @@
+using System;
+using System.Drawing;
+using System.Linq;
+using Grasshopper.Kernel;
+using Grasshopper.Kernel.Types;
+using Grasshopper.Kernel.Parameters;
+using Rhino.Geometry;
+using Extensions.Model.Document;
+using System.Collections.Generic;
+using Rhino.Display;
+
+namespace Extensions.View
+{
+    public class CreateDisplayGeometry : GH_Component
+    {
+        public CreateDisplayGeometry() : base("Display Geometry", "DisGeo", "Attaches display attributes to geometry.", "Extensions", "Document") { }
+        protected override Bitmap Icon => Properties.Resources.Eye;
+        public override Guid ComponentGuid => new Guid("{07955694-55A9-4AC6-88B8-A0F37632634B}");
+
+        protected override void RegisterInputParams(GH_InputParamManager pManager)
+        {
+            pManager.AddGeometryParameter("Geometry", "G", "Geometry.", GH_ParamAccess.item);
+            pManager.AddParameter(new Param_OGLShader(), "Shader", "S", "Shader to attach to geometry.", GH_ParamAccess.item);
+            pManager.AddTextParameter("Layer", "L", "Layer name.", GH_ParamAccess.item);
+            pManager[1].Optional = true;
+            pManager[2].Optional = true;
+        }
+
+        protected override void RegisterOutputParams(GH_OutputParamManager pManager)
+        {
+            pManager.AddParameter(new DisplayGeometryParameter(), "Display style", "D", "Display style.", GH_ParamAccess.list);
+        }
+
+        protected override void SolveInstance(IGH_DataAccess DA)
+        {
+            IGH_GeometricGoo geometry = null;
+            DisplayMaterial material = null;
+            string layer = "";
+
+            if (!DA.GetData(0, ref geometry)) return;
+            DA.GetData(1, ref material);
+            DA.GetData(2, ref layer);
+
+            var target = GH_Convert.ToGeometryBase(geometry);
+
+            var displayStyle = new DisplayGeometry(target, material, layer);
+            DA.SetData(0, new GH_DisplayGeometry(displayStyle));
+        }
+    }
+}
diff --git a/Extensions/View/Document/DisplayStyle.cs b/Extensions/View/Document/DisplayStyle.cs
deleted file mode 100644
index 87571bf..0000000
--- a/Extensions/View/Document/DisplayStyle.cs
+++ /dev/null
@@ -1,45 +0,0 @@
-using System;
-using System.Drawing;
-using System.Linq;
-using Grasshopper.Kernel;
-using Grasshopper.Kernel.Parameters;
-using Rhino.Geometry;
-using Extensions.Model.Document;
-using System.Collections.Generic;
-
-namespace Extensions.View
-{
-    public class CreateDisplayStyle : GH_Component
-    {
-        public CreateDisplayStyle() : base("Display style", "DisplayStyle", "Attach display attributes to geometry.", "Extensions", "Document") { }
-        protected override Bitmap Icon => Properties.Resources.Eye;
-        public override Guid ComponentGuid => new Guid("{07955694-55A9-4AC6-88B8-A0F37632634B}");
-
-        protected override void RegisterInputParams(GH_InputParamManager pManager)
-        {
-            pManager.AddGeometryParameter("Geometry", "G", "Geometry.", GH_ParamAccess.item);
-            pManager.AddColourParameter("Color", "C", "Display color.", GH_ParamAccess.item, Color.Black);
-            pManager.AddTextParameter("Layer", "L", "Layer name.", GH_ParamAccess.item, "Default");
-        }
-
-        protected override void RegisterOutputParams(GH_OutputParamManager pManager)
-        {
-            pManager.AddParameter(new DisplayStyleParameter(), "Display style", "D", "Display style.", GH_ParamAccess.list);
-        }
-
-        protected override void SolveInstance(IGH_DataAccess DA)
-        {
-            GeometryBase geometry = null;
-            Color color = Color.Black;
-            string layer = "";
-
-            if (!DA.GetData(0, ref geometry)) return;
-            if (!DA.GetData(1, ref color)) return;
-            if (!DA.GetData(2, ref layer)) return;
-
-            var displayStyle = new DisplayStyle(geometry, color, layer);
-
-            DA.SetData(0, new GH_DisplayStyle(displayStyle));
-        }
-    }
-}
diff --git a/Extensions/View/Document/Export.cs b/Extensions/View/Document/Export.cs
index a26acab..8471cd3 100644
--- a/Extensions/View/Document/Export.cs
+++ b/Extensions/View/Document/Export.cs
@@ -17,12 +17,13 @@ public Export() : base("Export geometry", "Export", "Export Grasshopper geometry
 
         protected override void RegisterInputParams(GH_InputParamManager pManager)
         {
-            pManager.AddParameter(new DisplayStyleParameter(), "Display style", "D", "Display style.", GH_ParamAccess.list);
+            pManager.AddParameter(new DisplayGeometryParameter(), "Display style", "D", "Display style.", GH_ParamAccess.list);
             pManager.AddIntegerParameter("Export type", "E", "Export type.", GH_ParamAccess.item, 0);
             pManager.AddTextParameter("Folder", "F", "Folder to export to. End without backslash.", GH_ParamAccess.item);
             pManager.AddTextParameter("File name", "N", "File name. Omit the extension.", GH_ParamAccess.item);
             var param = pManager[1] as Param_Integer;
-            param.AddNamedValue("WebGL (requires the Iris plugin)", 0);
+            param.AddNamedValue("HTML (WebGL model, requires the Iris plugin)", 0);
+            param.AddNamedValue("FBX (flips YZ components for Unity interop)", 1);
         }
 
         protected override void RegisterOutputParams(GH_OutputParamManager pManager)
@@ -32,7 +33,7 @@ protected override void RegisterOutputParams(GH_OutputParamManager pManager)
 
         protected override void SolveInstance(IGH_DataAccess DA)
         {
-            var geometries = new List<GH_DisplayStyle>();
+            var geometries = new List<GH_DisplayGeometry>();
             int exportType = 0;
             string folder = "";
             string fileName = "";
@@ -42,7 +43,7 @@ protected override void SolveInstance(IGH_DataAccess DA)
             if (!DA.GetData(2, ref folder)) return;
             if (!DA.GetData(3, ref fileName)) return;
 
-            string filePath = IO.Export(geometries.Select(g=>g.Value).ToList(), exportType, folder, fileName);
+            string filePath = IO.Export(geometries.Select(g=>g.Value).ToList(), (IO.ExportType)exportType, folder, fileName);
 
             DA.SetData(0, filePath);
         }
diff --git a/Extensions/View/Goo.cs b/Extensions/View/Goo.cs
index 389d37e..69c5846 100644
--- a/Extensions/View/Goo.cs
+++ b/Extensions/View/Goo.cs
@@ -1,84 +1,209 @@
 using System;
+using System.Linq;
 using System.Drawing;
 using System.Collections.Generic;
 using Grasshopper.Kernel;
 using Grasshopper.Kernel.Types;
 using Extensions.Model.Document;
+using Extensions.Model.Toolpaths.Milling;
 using Rhino.Geometry;
+using Rhino.Display;
+using Rhino;
+using Rhino.DocObjects;
+using Rhino.Render;
 
 namespace Extensions.View
 {
-    public class GH_DisplayStyle : GH_Goo<DisplayStyle>, IGH_PreviewData
+    public class GH_DisplayGeometry : GH_GeometricGoo<DisplayGeometry>, IGH_PreviewData, IGH_BakeAwareData, IGH_RenderAwareData
     {
-        public GH_DisplayStyle() { Value = new DisplayStyle(null, Color.Black); }
-        public GH_DisplayStyle(GH_DisplayStyle goo) { Value = goo.Value; }
-        public GH_DisplayStyle(DisplayStyle native) { Value = native; }
-        public override IGH_Goo Duplicate() => new GH_DisplayStyle(this);
+        public GH_DisplayGeometry() { Value = new DisplayGeometry(null, new DisplayMaterial(Color.Black, 0)); }
+        public GH_DisplayGeometry(GH_DisplayGeometry goo) { Value = goo.Value; }
+        public GH_DisplayGeometry(DisplayGeometry native) : base(native) { Value = native; }
+
+        public override IGH_Goo Duplicate() => new GH_DisplayGeometry(this);
         public override bool IsValid => true;
-        public override string TypeName => "DisplayStyle";
-        public override string TypeDescription => "Display style";
+        public override string TypeName => "Display Style";
+        public override string TypeDescription => "Display style.";
         public override string ToString() => Value?.ToString();
         public override object ScriptVariable() => Value;
 
         public override bool CastFrom(object source)
         {
-            if (source is GeometryBase)
-            {
-                Value = new DisplayStyle(source as GeometryBase, Color.Black);
-                return true;
-            }
+            var target = GH_Convert.ToGeometryBase(source);
+
+            if (target == null)
+                return false;
 
-            if (source is GH_Point)
+            Value = new DisplayGeometry(target, new DisplayMaterial(Color.Black, 0));
+            return true;
+        }
+
+        public override bool CastTo<Q>(ref Q target)
+        {
+            if (typeof(Q).IsAssignableFrom(typeof(GH_Material)))
             {
-                var point = new Rhino.Geometry.Point((source as GH_Point).Value);
-                Value = new DisplayStyle(point, Color.Black);
+                object ptr = new GH_Material(Value.Material);
+                target = (Q)ptr;
                 return true;
             }
 
             return false;
         }
 
-        public BoundingBox ClippingBox => Value.Geometry.GetBoundingBox(true);
+        public override BoundingBox Boundingbox => Value.Geometry.GetBoundingBox(true);
+
+        public override IGH_GeometricGoo DuplicateGeometry()
+        {
+            return new GH_DisplayGeometry(Value.Duplicate());
+        }
+
+        public override BoundingBox GetBoundingBox(Transform xform)
+        {
+            return Value.Geometry.GetBoundingBox(xform);
+        }
+
+        public override IGH_GeometricGoo Transform(Transform xform)
+        {
+            return new GH_DisplayGeometry(Value.Transform(xform));
+        }
+
+        public override IGH_GeometricGoo Morph(SpaceMorph xmorph)
+        {
+            var copy = Value.Duplicate();
+            xmorph.Morph(copy.Geometry);
+            return new GH_DisplayGeometry(copy);
+        }
+
+        public BoundingBox ClippingBox => Boundingbox;
 
         public void DrawViewportMeshes(GH_PreviewMeshArgs args)
         {
             if (Value.Geometry is Mesh)
-                args.Pipeline.DrawMeshShaded(Value.Geometry as Mesh, args.Material);
+            {
+                var material = Value.Material ?? args.Material;
+                args.Pipeline.DrawMeshShaded(Value.Geometry as Mesh, material);
+            }
         }
 
-
         public void DrawViewportWires(GH_PreviewWireArgs args)
         {
             //if (Value.Geometry is Mesh)
             //    args.Pipeline.DrawMeshWires(Value.Geometry as Mesh, Value.Color);
 
             if (Value.Geometry is Curve)
-                args.Pipeline.DrawCurve(Value.Geometry as Curve, Value.Color);
+            {
+                Color color = Value.Material == null ? args.Color : Value.Material.Diffuse;
+                args.Pipeline.DrawCurve(Value.Geometry as Curve, Value.Material.Diffuse);
+            }
         }
 
+        bool IGH_BakeAwareData.BakeGeometry(RhinoDoc doc, ObjectAttributes att, out Guid obj_guid)
+        {
+            obj_guid = Guid.Empty;
+            if (Value == null) return false;
+            obj_guid = Value.Bake(doc, att);
+            return true;
+        }
+
+        void IGH_RenderAwareData.AppendRenderGeometry(GH_RenderArgs args, RenderMaterial material)
+        {
+            if (Value.Geometry is Mesh)
+            {
+                var renderMat = material;
+
+                if (Value.Material != null)
+                {
+                    var mat = new Material
+                    {
+                        DiffuseColor = Value.Material.Diffuse,
+                        EmissionColor = Value.Material.Emission,
+                        Transparency = Value.Material.Transparency
+                    };
+
+                    var texture = Value.Material.GetBitmapTexture(true);
+
+                    if (texture != null)
+                        mat.SetBitmapTexture(texture);
+
+                    renderMat = mat.RenderMaterial;
+                }
+
+                args.Geomety.Add(Value.Geometry as Mesh, renderMat);
+            }
+        }
     }
 
-    public class DisplayStyleParameter : GH_PersistentParam<GH_DisplayStyle>, IGH_PreviewObject
+    public class GH_MillingAttributes : GH_Goo<MillingAttributes>
     {
-        public DisplayStyleParameter() : base("Display style", "Style", "Display style.", "Extensions", "Parameters") { }
+        public GH_MillingAttributes() { Value = null; }
+        public GH_MillingAttributes(GH_MillingAttributes goo) { Value = goo.Value; }
+        public GH_MillingAttributes(MillingAttributes native) { Value = native; }
+        public override IGH_Goo Duplicate() => new GH_MillingAttributes(this);
+        public override bool IsValid => true;
+        public override string TypeName => "Milling Attributes";
+        public override string TypeDescription => "Milling attributes.";
+        public override string ToString() => Value?.ToString();
+        public override object ScriptVariable() => Value;
+    }
+
+    public class DisplayGeometryParameter : GH_PersistentParam<GH_DisplayGeometry>, IGH_PreviewObject, IGH_BakeAwareObject
+    {
+        public DisplayGeometryParameter() : base("Display Geometry", "DisGeo", "Display geometry.", "Extensions", "Parameters") { }
         public override GH_Exposure Exposure => GH_Exposure.primary;
         protected override Bitmap Icon => Properties.Resources.EyeParam;
         public override Guid ComponentGuid => new Guid("{9F90313D-5776-471C-9922-29D4F59A70C4}");
-        protected override GH_GetterResult Prompt_Singular(ref GH_DisplayStyle value)
+
+        protected override GH_GetterResult Prompt_Singular(ref GH_DisplayGeometry value)
         {
-            value = new GH_DisplayStyle();
+            value = new GH_DisplayGeometry();
             return GH_GetterResult.success;
         }
-        protected override GH_GetterResult Prompt_Plural(ref List<GH_DisplayStyle> values)
+
+        protected override GH_GetterResult Prompt_Plural(ref List<GH_DisplayGeometry> values)
         {
-            values = new List<GH_DisplayStyle>();
+            values = new List<GH_DisplayGeometry>();
             return GH_GetterResult.success;
         }
 
         public bool Hidden { get; set; }
         public bool IsPreviewCapable => true;
-        public BoundingBox ClippingBox => base.Preview_ComputeClippingBox();
-        public void DrawViewportWires(IGH_PreviewArgs args) => base.Preview_DrawWires(args);
-        public void DrawViewportMeshes(IGH_PreviewArgs args) => base.Preview_DrawMeshes(args);
+        public BoundingBox ClippingBox => Preview_ComputeClippingBox();
+
+        public void DrawViewportWires(IGH_PreviewArgs args) => Preview_DrawWires(args);
+        public void DrawViewportMeshes(IGH_PreviewArgs args) => Preview_DrawMeshes(args);
+
+        public bool IsBakeCapable => true;
+
+        public void BakeGeometry(RhinoDoc doc, List<Guid> obj_ids)
+        {
+            BakeGeometry(doc, null, obj_ids);
+        }
+
+        public void BakeGeometry(RhinoDoc doc, ObjectAttributes att, List<Guid> obj_ids)
+        {
+            foreach (IGH_BakeAwareData data in VolatileData.AllData(true))
+            {
+                data.BakeGeometry(doc, att, out Guid id);
+                obj_ids.Add(id);
+            }
+        }
+    }
+
+    public class MillingAttributesParameter : GH_PersistentParam<GH_MillingAttributes>
+    {
+        public MillingAttributesParameter() : base("Milling Attributes", "MillAtt", "Milling attributes.", "Extensions", "Parameters") { }
+        public override GH_Exposure Exposure => GH_Exposure.primary;
+        protected override Bitmap Icon => Properties.Resources.LayersConfigParam;
+        public override Guid ComponentGuid => new Guid("{21255B77-9E3D-43BD-8FE5-9A77D4A4D575}");
+        protected override GH_GetterResult Prompt_Singular(ref GH_MillingAttributes value)
+        {
+            value = new GH_MillingAttributes();
+            return GH_GetterResult.success;
+        }
+        protected override GH_GetterResult Prompt_Plural(ref List<GH_MillingAttributes> values)
+        {
+            values = new List<GH_MillingAttributes>();
+            return GH_GetterResult.success;
+        }
     }
 }
diff --git a/Extensions/View/Rendering/BitmapFromVertexColors.cs b/Extensions/View/Rendering/BitmapFromVertexColors.cs
index 3e252f5..3652572 100644
--- a/Extensions/View/Rendering/BitmapFromVertexColors.cs
+++ b/Extensions/View/Rendering/BitmapFromVertexColors.cs
@@ -3,7 +3,8 @@
 using Grasshopper.Kernel;
 using Rhino.Geometry;
 using Extensions;
-
+using Extensions.Model.Document;
+using Rhino.Display;
 
 namespace Extensions.View
 {
@@ -22,7 +23,8 @@ protected override void RegisterInputParams(GH_InputParamManager pManager)
 
         protected override void RegisterOutputParams(GH_OutputParamManager pManager)
         {
-            pManager.AddMeshParameter("Mesh", "M", "Mesh with uv coords to map bitmap and unwelded vertices.", GH_ParamAccess.item);
+            //  pManager.AddMeshParameter("Mesh", "M", "Mesh with uv coords to map bitmap and unwelded vertices.", GH_ParamAccess.item);
+            pManager.AddParameter(new DisplayGeometryParameter(), "Dispay mesh", "M", "Display mesh.", GH_ParamAccess.list);
         }
 
         protected override void SolveInstance(IGH_DataAccess DA)
@@ -33,8 +35,12 @@ protected override void SolveInstance(IGH_DataAccess DA)
             DA.GetData(1, ref file);
 
             Mesh outMesh = RenderExtensions.BitmapFromVertexColors(mesh, file);
+            var material = new DisplayMaterial();
+            material.Transparency = 0;
+            material.SetBitmapTexture(file, true);
 
-            DA.SetData(0, outMesh);
+            var display = new DisplayGeometry(outMesh, material);
+            DA.SetData(0, new GH_DisplayGeometry(display));
         }
     }
 }
diff --git a/Extensions/View/Toolpaths/CSVConverter.cs b/Extensions/View/Toolpaths/CSVConverter.cs
index 51fd066..45c6016 100644
--- a/Extensions/View/Toolpaths/CSVConverter.cs
+++ b/Extensions/View/Toolpaths/CSVConverter.cs
@@ -62,7 +62,7 @@ protected override void SolveInstance(IGH_DataAccess DA)
             DA.GetData(4, ref cuttingSpeed);
             DA.GetData(5, ref point);
 
-            var converter = new Extensions.Toolpaths.CSVConverter(file, target.Value as CartesianTarget, mask, reverse, cuttingSpeed, point);
+            var converter = new Extensions.Model.Toolpaths.CSVConverter(file, target.Value as CartesianTarget, mask, reverse, cuttingSpeed, point);
 
             DA.SetDataList(0, converter.Targets);
             DA.SetDataList(1, converter.ToolPath);
diff --git a/Extensions/View/Toolpaths/LayeredToolpath.cs b/Extensions/View/Toolpaths/LayeredToolpath.cs
index bbbb323..3f9b874 100644
--- a/Extensions/View/Toolpaths/LayeredToolpath.cs
+++ b/Extensions/View/Toolpaths/LayeredToolpath.cs
@@ -38,7 +38,7 @@ protected override void SolveInstance(IGH_DataAccess DA)
             DA.GetData(2, ref height);
             DA.GetData(3, ref region);
 
-            var column = new Model.Toolpath.Column(mesh, diameter, height, region);
+            var column = new Model.Toolpaths.Column(mesh, diameter, height, region);
 
             var original = column.Contours.Select(p => new PolylineCurve(p));
             var contours = column.Layers.SelectMany(p => p.Select(c => new PolylineCurve(c)));
diff --git a/Extensions/View/Toolpaths/MillingAttributes.cs b/Extensions/View/Toolpaths/MillingAttributes.cs
new file mode 100644
index 0000000..0135e77
--- /dev/null
+++ b/Extensions/View/Toolpaths/MillingAttributes.cs
@@ -0,0 +1,74 @@
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using Grasshopper.Kernel;
+using Rhino.Geometry;
+using Robots;
+using Robots.Grasshopper;
+using static Extensions.Model.Util;
+using Extensions.Model.Toolpaths.Milling;
+
+namespace Extensions.View
+{
+    public class CreateMillingAttributes : GH_Component
+    {
+        public CreateMillingAttributes() : base("Milling attributes", "MillAtt", "Milling attributes.", "Extensions", "Toolpaths") { }
+        public override GH_Exposure Exposure => ExtensionsInfo.IsRobotsInstalled ? GH_Exposure.primary : GH_Exposure.hidden;
+        protected override System.Drawing.Bitmap Icon => Properties.Resources.LayersConfig;
+        public override Guid ComponentGuid => new Guid("{F6A3EFA3-2CC5-4E17-BEE8-E8B9AA6648B5}");
+
+        protected override void RegisterInputParams(GH_InputParamManager pManager)
+        {
+            if (ExtensionsInfo.IsRobotsInstalled)
+                Inputs(pManager);
+        }
+
+        protected override void RegisterOutputParams(GH_OutputParamManager pManager)
+        {
+            if (ExtensionsInfo.IsRobotsInstalled)
+                Outputs(pManager);
+        }
+
+        void Inputs(GH_InputParamManager pManager)
+        {
+            pManager.AddParameter(new TargetParameter(), "Reference target", "T", "Create targets will inherit the tool and frame from this target.", GH_ParamAccess.item);
+            pManager.AddNumberParameter("End mill diameter", "D", "End mill diameter.", GH_ParamAccess.item);
+            pManager.AddNumberParameter("End mill length", "L", "End mill length.", GH_ParamAccess.item);
+            pManager.AddNumberParameter("Step over", "So", "Step over in mm.", GH_ParamAccess.item);
+            pManager.AddNumberParameter("Step down", "Sd", "Step down in mm.", GH_ParamAccess.item);
+            pManager.AddNumberParameter("Safe Z offset", "Z", "Vertical margin to add to plunges.", GH_ParamAccess.item);
+            pManager.AddNumberParameter("Safe speed", "Ss", "Safe speed in mm/s.", GH_ParamAccess.item);
+            pManager.AddNumberParameter("Plunge speed", "Ps", "Plunge speed in mm/s.", GH_ParamAccess.item);
+            pManager.AddNumberParameter("Cut speed", "Cs", "Cut speed in mm/s.", GH_ParamAccess.item);
+            pManager.AddNumberParameter("Cut zone", "Cz", "Cut zone in mm.", GH_ParamAccess.item);
+        }
+
+        void Outputs(GH_OutputParamManager pManager)
+        {
+            pManager.AddParameter(new MillingAttributesParameter(), "Milling Attributes", "A", "Milling attributes.", GH_ParamAccess.item);
+        }
+
+
+        protected override void SolveInstance(IGH_DataAccess DA)
+        {
+            GH_Target target = null;
+            var values = new double[9];
+
+            if (!DA.GetData(0, ref target)) return;
+
+            for (int i = 0; i < 9; i++)
+            if (!DA.GetData(i+1, ref values[i])) return;
+
+
+            var endMill = new EndMill()
+            {
+                Diameter = values[0],
+                Length = values[1]
+            };
+
+            var attributes = new MillingAttributes(target.Value, endMill, values[2], values[3], values[4], values[5], values[6], values[7],values[8]);
+
+            DA.SetData(0, new GH_MillingAttributes(attributes));
+        }
+    }
+}
\ No newline at end of file
diff --git a/Extensions/View/Toolpaths/MillingToolpath.cs b/Extensions/View/Toolpaths/MillingToolpath.cs
new file mode 100644
index 0000000..e734370
--- /dev/null
+++ b/Extensions/View/Toolpaths/MillingToolpath.cs
@@ -0,0 +1,66 @@
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using Grasshopper.Kernel;
+using Rhino.Geometry;
+using Robots;
+using Robots.Grasshopper;
+using static Extensions.Model.Util;
+using Extensions.Model.Toolpaths.Milling;
+
+namespace Extensions.View
+{
+    public class CreateMillingToolpath : GH_Component
+    {
+        public CreateMillingToolpath() : base("Milling toolpath", "MillPath", "Milling toolpath.", "Extensions", "Toolpaths") { }
+        public override GH_Exposure Exposure => ExtensionsInfo.IsRobotsInstalled ? GH_Exposure.primary : GH_Exposure.hidden;
+        protected override System.Drawing.Bitmap Icon => Properties.Resources.LayersSubtract;
+        public override Guid ComponentGuid => new Guid("{49D4E0A2-DD27-4EA4-A887-5E9AF27ECF45}");
+
+        protected override void RegisterInputParams(GH_InputParamManager pManager)
+        {
+            if (ExtensionsInfo.IsRobotsInstalled)
+                Inputs(pManager);
+        }
+
+        protected override void RegisterOutputParams(GH_OutputParamManager pManager)
+        {
+            if (ExtensionsInfo.IsRobotsInstalled)
+                Outputs(pManager);
+        }
+
+        void Inputs(GH_InputParamManager pManager)
+        {
+            pManager.AddCurveParameter("Paths", "P", "Paths as as list of polylines.", GH_ParamAccess.list);
+            pManager.AddBoxParameter("Bounding box.", "B", "Bounding box of the block.", GH_ParamAccess.item);
+            pManager.AddParameter(new MillingAttributesParameter(), "Milling Attributes", "A", "Milling attributes.", GH_ParamAccess.item);
+        }
+
+        void Outputs(GH_OutputParamManager pManager)
+        {
+            pManager.AddParameter(new TargetParameter(), "Targets", "T", "List of robot targets.", GH_ParamAccess.list);
+            pManager.AddIntegerParameter("Layer indices", "L", "Layer indices.", GH_ParamAccess.list);
+        }
+
+        protected override void SolveInstance(IGH_DataAccess DA)
+        {
+            GH_MillingAttributes attributes = null;
+            var paths = new List<Curve>();
+            var box = Box.Unset;
+
+            if (!DA.GetDataList(0, paths)) return;
+            if (!DA.GetData(1, ref box)) return;
+            if (!DA.GetData(2, ref attributes)) return;
+
+            var polylines = paths
+                .Where(p => p.IsPolyline())
+                .Select(p => { p.TryGetPolyline(out Polyline pl); return pl; })
+                .ToList();
+
+            var toolpath = new MillingToolpath(polylines, box.BoundingBox, attributes.Value);
+
+            DA.SetDataList(0, toolpath.Targets);
+            DA.SetDataList(1, toolpath.SubPrograms);
+        }
+    }
+}
\ No newline at end of file
diff --git a/Extensions/View/Toolpaths/SpatialExtrusion.cs b/Extensions/View/Toolpaths/SpatialExtrusion.cs
index 3609df5..562ac62 100644
--- a/Extensions/View/Toolpaths/SpatialExtrusion.cs
+++ b/Extensions/View/Toolpaths/SpatialExtrusion.cs
@@ -6,12 +6,13 @@
 using Robots;
 using Robots.Grasshopper;
 using static Extensions.Model.Util;
+using Extensions.Model.Toolpaths.SpatialExtrusion;
 
 namespace Extensions.View
 {
-    public class SpatialExtrusion : GH_Component
+    public class CreateSpatialExtrusion : GH_Component
     {
-        public SpatialExtrusion() : base("Spatial extrusion", "Spatial", "Create a spatial extrusion toolpath given a polyline. Requires the Robots plugin.", "Extensions", "Toolpaths") { }
+        public CreateSpatialExtrusion() : base("Spatial extrusion", "Spatial", "Create a spatial extrusion toolpath given a polyline. Requires the Robots plugin.", "Extensions", "Toolpaths") { }
         public override GH_Exposure Exposure => ExtensionsInfo.IsRobotsInstalled ? GH_Exposure.primary : GH_Exposure.hidden;
         protected override System.Drawing.Bitmap Icon => Properties.Resources.Spatial;
         public override Guid ComponentGuid => new Guid("{79EE65B3-CB2F-4704-8B01-C7C9F379B7C4}");
@@ -72,8 +73,8 @@ protected override void SolveInstance(IGH_DataAccess DA)
             var environment = new List<GeometryBase>();
             DA.GetDataList(6, environment);
 
-            var attributes = new Toolpaths.SpatialAttributes(variables, (target.Value) as CartesianTarget, speeds, waits, dos, environment);
-            var spatial = new Toolpaths.SpatialExtrusion(polylines, attributes);
+            var attributes = new SpatialAttributes(variables, (target.Value) as CartesianTarget, speeds, waits, dos, environment);
+            var spatial = new SpatialExtrusion(polylines, attributes);
 
             DA.SetDataList(0, spatial.Targets);
             DA.SetDataList(1, spatial.Display.Select(d => d.segment));
diff --git a/Extensions/app.config b/Extensions/app.config
index 557095a..2943417 100644
--- a/Extensions/app.config
+++ b/Extensions/app.config
@@ -6,6 +6,10 @@
         <assemblyIdentity name="System.ValueTuple" publicKeyToken="cc7b13ffcd2ddd51" culture="neutral" />
         <bindingRedirect oldVersion="0.0.0.0-4.0.3.0" newVersion="4.0.3.0" />
       </dependentAssembly>
+      <dependentAssembly>
+        <assemblyIdentity name="RhinoCommon" publicKeyToken="552281e97c755530" culture="neutral" />
+        <bindingRedirect oldVersion="0.0.0.0-5.1.30000.16" newVersion="5.1.30000.16" />
+      </dependentAssembly>
     </assemblyBinding>
   </runtime>
 </configuration>
\ No newline at end of file
diff --git a/Extensions/packages.config b/Extensions/packages.config
index 4e421c8..0539f3f 100644
--- a/Extensions/packages.config
+++ b/Extensions/packages.config
@@ -3,6 +3,8 @@
   <package id="Costura.Fody" version="3.1.0" targetFramework="net471" developmentDependency="true" />
   <package id="Fody" version="3.1.3" targetFramework="net471" developmentDependency="true" />
   <package id="geometry3Sharp" version="1.0.144" targetFramework="net471" />
+  <package id="Grasshopper" version="6.6.18177.16151" targetFramework="net471" />
   <package id="morelinq" version="3.0.0" targetFramework="net471" />
+  <package id="RhinoCommon" version="6.6.18177.16151" targetFramework="net471" />
   <package id="System.ValueTuple" version="4.5.0" targetFramework="net471" />
 </packages>
\ No newline at end of file