diff --git a/Assets/Resources/Shader/GeometryGrass.shader b/Assets/Resources/Shader/GeometryGrass.shader
index 50defb28..622f9257 100644
--- a/Assets/Resources/Shader/GeometryGrass.shader
+++ b/Assets/Resources/Shader/GeometryGrass.shader
@@ -358,8 +358,8 @@ Shader "Custom/GeometryGrass"
 #endif
 
 				float width  = lerp(_BladeWidthMin, _BladeWidthMax, rand(pos.xzy) * falloff);
-				float height = lerp(_BladeHeightMin, _BladeHeightMax, rand(pos.zyx) * falloff);
-				float forward = rand(pos.yyz) * _BladeBendDistance;
+				float height = lerp(_BladeHeightMin, _BladeHeightMax * grassVisibility, rand(pos.zyx) * falloff);
+				float forward = rand(pos.yyz) * _BladeBendDistance * grassVisibility;
 
 #ifdef DRY_GRASS_ON
 				float dryRate = tex2Dlod(_DryGrassMap, float4(-input[0].uv, 0, 0)).r;
diff --git a/Assets/Scripts/CLOiSimPlugins/MicomPlugin.cs b/Assets/Scripts/CLOiSimPlugins/MicomPlugin.cs
index 70e07308..4da9ca35 100644
--- a/Assets/Scripts/CLOiSimPlugins/MicomPlugin.cs
+++ b/Assets/Scripts/CLOiSimPlugins/MicomPlugin.cs
@@ -7,6 +7,7 @@
 using System.Collections.Generic;
 using System.Text;
 using System.Linq;
+using System;
 using Any = cloisim.msgs.Any;
 using UnityEngine;
 
@@ -88,6 +89,11 @@ private void SetupMicom()
 			SetWheel();
 		}
 
+		if (GetPluginParameters().IsValidNode("mowing"))
+		{
+			SetMowing();
+		}
+
 		if (GetPluginParameters().IsValidNode("battery"))
 		{
 			SetBattery();
@@ -170,6 +176,26 @@ private void SetWheelPID()
 		_motorControl.SetPID(P, I, D, iMin, iMax, outputMin, outputMax);
 	}
 
+	private void SetMowing()
+	{
+		var targetBladeName = GetPluginParameters().GetAttributeInPath<string>("mowing/blade", "target");
+		if (!string.IsNullOrEmpty(targetBladeName))
+		{
+			var linkHelpers = GetComponentsInChildren<SDF.Helper.Link>();
+			var targetBlade = linkHelpers.FirstOrDefault(x => x.name == targetBladeName);
+
+			if (targetBlade != null)
+			{
+				var mowingBlade = targetBlade.gameObject.AddComponent<MowingBlade>();
+
+				mowingBlade.HeightMin = GetPluginParameters().GetValue<float>("mowing/blade/height/min", 0f);
+				mowingBlade.HeightMax = GetPluginParameters().GetValue<float>("mowing/blade/height/max", 0.1f);
+				mowingBlade.RevSpeedMax = GetPluginParameters().GetValue<UInt16>("mowing/blade/rev_speed/max", 1000);
+				mowingBlade.Height = 0;
+			}
+		}
+	}
+
 	private void SetBattery()
 	{
 		if (GetPluginParameters().GetValues<string>("battery/voltage", out var batteryList))
diff --git a/Assets/Scripts/CLOiSimPlugins/MowingPlugin.cs b/Assets/Scripts/CLOiSimPlugins/MowingPlugin.cs
index a8920052..7e29a091 100644
--- a/Assets/Scripts/CLOiSimPlugins/MowingPlugin.cs
+++ b/Assets/Scripts/CLOiSimPlugins/MowingPlugin.cs
@@ -13,36 +13,6 @@
 [DefaultExecutionOrder(800)]
 public class MowingPlugin : CLOiSimPlugin
 {
-	public struct Target
-	{
-		public string modelName;
-		public string linkName;
-
-		public Target(in string model, in string link)
-		{
-			modelName = model;
-			linkName = link;
-		}
-	}
-
-	private class Blade
-	{
-		public float ratio = 0.1f;
-
-		public Target target;
-
-		public float size = 0;
-
-		public float heightThreshold = 0;
-
-		public void SetBladingRatio(in float bladeMin, in float bladeMax, in float bladingHeight)
-		{
-			this.heightThreshold = bladingHeight;
-			this.ratio = Mathf.Lerp(bladeMin, bladeMax, bladingHeight);
-			// Debug.Log("_bladingRatio: " + this.ratio);
-		}
-	}
-
 	private class Grass
 	{
 		public struct Blade
@@ -55,13 +25,14 @@ public Blade(in float min, in float max)
 				heightMin = min;
 				heightMax = max;
 			}
-
 		}
 
+		public string modelName;
+		public string linkName;
+
 		public float mapResolution = 0.05f; // m/pixel
 		public Blade blade = new Blade(-1, -1);
 
-		public Target targetPlane;
 		public Material material = null;
 		public Bounds bounds = new Bounds();
 		public Texture2D texture = null;
@@ -193,14 +164,13 @@ public Vector3 GetGrassOffset()
 	}
 
 	private Grass _grass = null;
-	private Blade _blade = null;
+	private MowingBlade _mowingBlade = null;
 
 	private Color[] _initialTexturePixels = null;
 	private Transform _targetPlane = null;
-	private Transform _targetBlade = null;
 
 	private List<MeshFilter> _punchingMeshFilters = new List<MeshFilter>();
-	private bool _startMowing = true;
+
 
 	protected override void OnAwake()
 	{
@@ -211,7 +181,6 @@ protected override void OnAwake()
 
 		var geomGrassShader = Shader.Find("Custom/GeometryGrass");
 		_grass = new Grass(geomGrassShader);
-		_blade = new Blade();
 	}
 
 	protected override void OnStart()
@@ -224,11 +193,8 @@ private IEnumerator Start()
 		yield return new WaitForEndOfFrame();
 
 		var grassTarget = GetPluginParameters().GetValue<string>("grass/target");
-		var grassTragetSplit = grassTarget.Split("::");
-
-		_grass.targetPlane = new Target(grassTragetSplit[0], grassTragetSplit[1]);
 
-		if (FindTargetPlane(_grass.targetPlane))
+		if (FindTargetPlane(grassTarget))
 		{
 			PlantGrass();
 		}
@@ -238,11 +204,7 @@ private IEnumerator Start()
 		}
 
 		var bladeTarget = GetPluginParameters().GetValue<string>("mowing/blade/target");
-		var bladeTargetSplit = bladeTarget.Split("::");
-
-		_blade.target = new Target(bladeTargetSplit[0], bladeTargetSplit[1]);
-
-		if (FindTargetBlade(_blade.target) == false)
+		if (FindTargetBlade(bladeTarget) == false)
 		{
 			Debug.LogWarning("Target blade not found");
 		}
@@ -258,13 +220,15 @@ protected override void OnReset()
 		}
 	}
 
-	private bool FindTargetPlane(Target targetPlane)
+	private bool FindTargetPlane(in string targetPlane)
 	{
+		(_grass.modelName, _grass.linkName) = SDF2Unity.GetModelLinkName(targetPlane);
+
 		var modelHelpers = GetComponentsInChildren<SDF.Helper.Model>();
-		var targetModel = modelHelpers.FirstOrDefault(x => x.name == targetPlane.modelName);
+		var targetModel = modelHelpers.FirstOrDefault(x => x.name == _grass.modelName);
 
 		_targetPlane = targetModel?.GetComponentsInChildren<SDF.Helper.Link>()
-			.FirstOrDefault(x => x.name == targetPlane.linkName)?.transform;
+			.FirstOrDefault(x => x.name == _grass.linkName)?.transform;
 
 		var targetPlaneCollision
 				= _targetPlane?.GetComponentsInChildren<SDF.Helper.Collision>()
@@ -273,54 +237,45 @@ var targetPlaneCollision
 		return targetPlaneCollision != null;
 	}
 
-	private bool FindTargetBlade(Target targetBlade)
+	private bool FindTargetBlade(in string targetBlade)
 	{
+		var (targetBladeModelName, targetBladeLinkName) = SDF2Unity.GetModelLinkName(targetBlade);
+
 		var modelHelpers = GetComponentsInChildren<SDF.Helper.Model>();
-		var targetModel = modelHelpers.FirstOrDefault(x => x.name == targetBlade.modelName);
+		var targetModel = modelHelpers.FirstOrDefault(x => x.name == targetBladeModelName);
 
-		_targetBlade = targetModel?.GetComponentsInChildren<SDF.Helper.Link>()
-			.FirstOrDefault(x => x.name == targetBlade.linkName)?.transform;
+		var targetBladeLinkHelper = targetModel?.GetComponentsInChildren<SDF.Helper.Link>()
+			.FirstOrDefault(x => x.name == targetBladeLinkName)?.transform;
 
-		if (_targetBlade == null)
+		if (targetBladeLinkHelper == null)
 		{
 			return false;
 		}
 
-		var meshFilters = _targetBlade.GetComponentsInChildren<MeshFilter>();
+		_mowingBlade = targetBladeLinkHelper.GetComponent<MowingBlade>();
 
-		var bladeBounds = new Bounds();
-		foreach (var meshFilter in meshFilters)
+		if (_mowingBlade == null)
 		{
-			// Debug.Log(meshFilter.name);
-			// Debug.Log(meshFilter.sharedMesh.bounds);
-			var bounds = meshFilter.sharedMesh.bounds;
-			bladeBounds.Encapsulate(bounds);
+			_mowingBlade = targetBladeLinkHelper.gameObject.AddComponent<MowingBlade>();
 		}
 
-		// Debug.Log(bladeBounds);
-		_blade.size = Mathf.Max(bladeBounds.extents.x, bladeBounds.extents.z);
-		var bladeMin = _targetPlane.TransformPoint(_targetBlade.position);
-		// Debug.Log(bladeMin.y);
-
-		_blade.SetBladingRatio(_grass.blade.heightMin, _grass.blade.heightMax, bladeMin.y);
-
 		return true;
 	}
 
 	private void PlantGrass()
 	{
-		if (_targetPlane == null)
-			return;
-
-		var targetPlaneMesh = _targetPlane?.GetComponentInChildren<MeshFilter>();
-		_grass.SetMaterial(GetPluginParameters());
-		_grass.SetGrassOffset(_targetPlane.position);
-		_grass.SetBound(targetPlaneMesh.sharedMesh);
-		_grass.Generate();
+		if (_targetPlane != null)
+		{
+			var targetPlaneMesh = _targetPlane?.GetComponentInChildren<MeshFilter>();
+			_grass.SetMaterial(GetPluginParameters());
+			_grass.SetGrassOffset(_targetPlane.position);
+			_grass.SetBound(targetPlaneMesh.sharedMesh);
+			_grass.Generate();
 
-		StartCoroutine(PunchingGrass());
+			StartCoroutine(PunchingGrass());
 
-		AssignMaterial();
+			AssignMaterial();
+		}
 	}
 
 	private IEnumerator PunchingGrass()
@@ -339,7 +294,7 @@ private IEnumerator PunchingGrass()
 
 		foreach (var meshFilter in _punchingMeshFilters)
 		{
-			PunchingTexture(_grass.texture, meshFilter);
+			PunchingTexture(ref _grass.texture, meshFilter);
 			yield return null;
 		}
 
@@ -364,7 +319,6 @@ private void CreateTempColliderInVisuals(ref List<MeshCollider> tempMeshCollider
 					foreach (var meshFilter in meshFilters)
 					{
 						var meshCollider = meshFilter.transform.gameObject.AddComponent<MeshCollider>();
-						// Debug.Log(helperVisual.name + "," + meshFilter.name + "," + meshCollider.name);
 						meshCollider.convex = true;
 						meshCollider.isTrigger = true;
 						tempMeshColliders.Add(meshCollider);
@@ -376,10 +330,10 @@ private void CreateTempColliderInVisuals(ref List<MeshCollider> tempMeshCollider
 
 	private IEnumerator FindMeshFiltersToPunching()
 	{
-		yield return null;
-
 		var layerMask = LayerMask.GetMask("Default");
 
+		yield return null;
+
 		var hitColliders = Physics.OverlapBox(_grass.bounds.center, _grass.bounds.extents, Quaternion.identity, layerMask);
 		var i = 0;
 		while (i < hitColliders.Length)
@@ -390,11 +344,11 @@ private IEnumerator FindMeshFiltersToPunching()
 
 			if (helperModel != null)
 			{
-				// punching  other object on same target model
-				if (helperModel.name.Equals(_grass.targetPlane.modelName))
+				// punching other object on same target model
+				if (helperModel.name.Equals(_grass.modelName))
 				{
 					var helperLink = hitCollider.GetComponentInParent<SDF.Helper.Link>();
-					if (helperLink != null && !helperLink.name.Equals(_grass.targetPlane.linkName))
+					if (helperLink != null && !helperLink.name.Equals(_grass.linkName))
 					{
 						var meshFilters = helperLink.GetComponentsInChildren<MeshFilter>();
 						_punchingMeshFilters.AddRange(meshFilters);
@@ -414,6 +368,7 @@ private IEnumerator FindMeshFiltersToPunching()
 					_punchingMeshFilters.AddRange(meshFilters);
 				}
 			}
+
 			yield return null;
 		}
 	}
@@ -436,7 +391,7 @@ private void AssignMaterial()
 		targetPlaneMeshRenderer.materials = newMaterials;
 	}
 
-	private void PunchingTexture(Texture2D texture, MeshFilter meshFilter)
+	private void PunchingTexture(ref Texture2D texture, in MeshFilter meshFilter)
 	{
 		var textureCenterX = (int)(texture.width * 0.5f);
 		var textureCenterY = (int)(texture.height * 0.5f);
@@ -447,9 +402,6 @@ private void PunchingTexture(Texture2D texture, MeshFilter meshFilter)
 		var vertices = mesh.vertices;
 		var triangles = mesh.triangles;
 
-		// Debug.Log(triangles.Length);
-		// Debug.Log(vertices.Length);
-
 		for (var i = 0; i < triangles.Length; i += 3)
 		{
 			var p0 = vertices[triangles[i + 0]];
@@ -459,61 +411,65 @@ private void PunchingTexture(Texture2D texture, MeshFilter meshFilter)
 			var tp1 = meshFilter.transform.TransformPoint(p1) - offset;
 			var tp2 = meshFilter.transform.TransformPoint(p2) - offset;
 
-			// Debug.Log("Punch >> " + tp0.y + ", " + tp1.y + ", " + tp2.y);
-			{
-				var P1 = new Vector2(tp0.z, tp0.x);
-				var P2 = new Vector2(tp1.z, tp1.x);
-				var P3 = new Vector2(tp2.z, tp2.x);
+			var P1 = new Vector2(tp0.z, tp0.x);
+			var P2 = new Vector2(tp1.z, tp1.x);
+			var P3 = new Vector2(tp2.z, tp2.x);
 
-				P1 /= _grass.mapResolution;
-				P2 /= _grass.mapResolution;
-				P3 /= _grass.mapResolution;
+			P1 /= _grass.mapResolution;
+			P2 /= _grass.mapResolution;
+			P3 /= _grass.mapResolution;
 
-				P1 += textureCenter;
-				P2 += textureCenter;
-				P3 += textureCenter;
+			P1 += textureCenter;
+			P2 += textureCenter;
+			P3 += textureCenter;
 
-				texture.FillTriangle(P1, P2, P3, Color.clear);
-			}
+			texture.FillTriangle(P1, P2, P3, Color.clear);
 		}
 	}
 
 	private IEnumerator StartMowing()
 	{
-		const float mowingMargin = 0.01f;
-
 		yield return null;
 
-		var threshold =  _blade.heightThreshold + mowingMargin;
-		var color = new Color(_blade.ratio, 0, 0, 0);
+		var mowingThreshold = _grass.blade.heightMax;
+		var mowingRatioInColor = Color.clear;
 		var planeCenterPosition = _targetPlane.position;
-		var bladeRadiusIntexture = _blade.size /_grass.mapResolution;
+		var bladeRadiusIntexture = _mowingBlade.Diameter /_grass.mapResolution;
 
-		// Debug.Log("blade threshold= " + threshold + ", bladeRadiusIntexture=" + bladeRadiusIntexture);
 		while (true)
 		{
-			if (_startMowing && _targetBlade != null)
+			if (_mowingBlade.IsRunning() && _mowingBlade != null)
 			{
-				var bladePositionInTexture = _targetBlade.position;
+				var bladeToPlaneDistance = _targetPlane.TransformPoint(_mowingBlade.Position);
 
-				// Debug.Log("blade " + bladePositionInTexture.y.ToString("F4") + " threshold= " + threshold);
-				if (bladePositionInTexture.y <= threshold)
+				if (bladeToPlaneDistance.y <= mowingThreshold)
 				{
+					mowingRatioInColor.r = bladeToPlaneDistance.y / mowingThreshold;
+					// Debug.Log($"{_grass.blade.heightMin}, {_grass.blade.heightMax}, {bladeToPlaneDistance.y} => {mowingRatioInColor.r }");
+
+					var bladePositionInTexture = _mowingBlade.Position;
 					bladePositionInTexture -= planeCenterPosition;
 					bladePositionInTexture += _grass.bounds.extents;
 					bladePositionInTexture /= _grass.mapResolution;
-					// Debug.Log(bladePositionInTexture);
 
 					_grass.texture.FillCircle(
 						bladePositionInTexture.z,
 						bladePositionInTexture.x,
 						bladeRadiusIntexture,
-						color);
+						mowingRatioInColor,
+						TextureUtil.FillOptions.Lesser);
 
 					yield return null;
 				}
+				else
+				{
+					yield return new WaitForEndOfFrame();
+				}
+			}
+			else
+			{
+				yield return new WaitForEndOfFrame();
 			}
-			yield return new WaitForEndOfFrame();
 		}
 	}
 }
diff --git a/Assets/Scripts/Devices/MicomCommand.cs b/Assets/Scripts/Devices/MicomCommand.cs
index ee7b85ee..22cd7ab0 100644
--- a/Assets/Scripts/Devices/MicomCommand.cs
+++ b/Assets/Scripts/Devices/MicomCommand.cs
@@ -12,6 +12,7 @@ namespace SensorDevices
 	public class MicomCommand : Device
 	{
 		private MotorControl _motorControl = null;
+		private MowingBlade _mowingBlade = null;
 
 		protected override void OnAwake()
 		{
@@ -21,6 +22,7 @@ protected override void OnAwake()
 
 		protected override void OnStart()
 		{
+			_mowingBlade = GetComponentInChildren<MowingBlade>();
 		}
 
 		protected override void OnReset()
@@ -35,22 +37,39 @@ public void SetMotorControl(in MotorControl motorControl)
 
 		protected override void ProcessDevice()
 		{
-			if (PopDeviceMessage<messages.Twist>(out var micomWritingData))
+			if (PopDeviceMessage(out var receivedMessage))
 			{
-				var linear = micomWritingData.Linear;
-				var angular = micomWritingData.Angular;
+				var cmdVelocity = receivedMessage.GetMessage<messages.Twist>();
 
-				var linearVelocity = SDF2Unity.Position(linear.X, linear.Y, linear.Z);
-				var angularVelocity = SDF2Unity.Position(angular.X, angular.Y, angular.Z);
+				if (cmdVelocity != null)
+				{
+					var linear = cmdVelocity.Linear;
+					var angular = cmdVelocity.Angular;
 
-				DoWheelDrive(linearVelocity, angularVelocity);
-			}
+					var linearVelocity = SDF2Unity.Position(linear.X, linear.Y, linear.Z);
+					var angularVelocity = SDF2Unity.Position(angular.X, angular.Y, angular.Z);
+
+					DoWheelDrive(linearVelocity, angularVelocity);
+				}
+				else
+				{
+					var cmdMowing = receivedMessage.GetMessage<messages.Param>();
+
+					if (cmdMowing != null)
+					{
+						if (!string.IsNullOrEmpty(cmdMowing.Name))
+						{
+							ControlMowing(cmdMowing.Name, cmdMowing.Value);
+						}
+					}
 #if UNITY_EDITOR
-			else
-			{
-				Debug.LogWarning("ERROR: failed to pop device message");
-			}
+					else
+					{
+						Debug.LogWarning("ERROR: failed to pop device message");
+					}
 #endif
+				}
+			}
 		}
 
 		/// <param name="linearVelocity">m/s</param>
@@ -65,7 +84,32 @@ private void DoWheelDrive(in Vector3 linearVelocity, in Vector3 angularVelocity)
 
 			var targetLinearVelocity = linearVelocity.z;
 			var targetAngularVelocity = angularVelocity.y;
+
 			_motorControl.SetTwistDrive(targetLinearVelocity, targetAngularVelocity);
 		}
+
+		private void ControlMowing(in string target, in cloisim.msgs.Any value)
+		{
+			if (string.Compare(target, "mowing_blade_height") == 0)
+			{
+				if (_mowingBlade != null && value.Type == messages.Any.ValueType.Double)
+				{
+					_mowingBlade.Height = (float)value.DoubleValue;
+					// Debug.Log($"mowing_blade_height {value} -> {_mowingBlade.Height}");
+				}
+			}
+			else if (string.Compare(target, "mowing_blade_rev_speed") == 0)
+			{
+				if (_mowingBlade != null && value.Type == messages.Any.ValueType.Int32)
+				{
+					_mowingBlade.RevSpeed = System.Convert.ToUInt16(value.IntValue);
+					// Debug.Log($"mowing_blade_rev_speed {value} -> {_mowingBlade.RevSpeed}");
+				}
+			}
+			else
+			{
+				Debug.LogWarning($"Invalid Control Mowing message received: {target}");
+			}
+		}
 	}
 }
\ No newline at end of file
diff --git a/Assets/Scripts/Devices/Modules/MowingBlade.cs b/Assets/Scripts/Devices/Modules/MowingBlade.cs
new file mode 100644
index 00000000..65431530
--- /dev/null
+++ b/Assets/Scripts/Devices/Modules/MowingBlade.cs
@@ -0,0 +1,138 @@
+/*
+ * Copyright (c) 2024 LG Electronics Inc.
+ *
+ * SPDX-License-Identifier: MIT
+ */
+
+using System.Collections.Generic;
+using System.Collections;
+using System;
+using UnityEngine;
+
+public class MowingBlade : MonoBehaviour
+{
+	[SerializeField]
+	private float _height = 0;
+
+	[SerializeField]
+	private UInt16 _revSpeed = 0;
+
+	[SerializeField]
+	private float _heightMin = 0;
+
+	[SerializeField]
+	private float _heightMax = 0;
+
+	[SerializeField]
+	private UInt16 _revSpeedMax = 0;
+
+	[SerializeField]
+	private float _heightBaseInTransform = 0;
+
+	private Bounds _bladeBounds = new Bounds();
+
+	private bool _doAdjust = false;
+
+	public float Diameter
+	{
+		get => Mathf.Max(_bladeBounds.extents.x, _bladeBounds.extents.z);
+	}
+
+	public float HeightMin
+	{
+		get => _heightMin;
+		set => _heightMin = value;
+	}
+
+	public float HeightMax
+	{
+		get => _heightMax;
+		set => _heightMax = value;
+	}
+
+	public UInt16 RevSpeedMax
+	{
+		get => _revSpeedMax;
+		set => _revSpeedMax = value;
+	}
+
+	public float Height
+	{
+		get => _height;
+		set => _height = (value <= _heightMin) ? _heightMin : (value >= _heightMax ? _heightMax : value);
+	}
+
+	public UInt16 RevSpeed
+	{
+		get => _revSpeed;
+		set => _revSpeed = (value >= _revSpeedMax ? _revSpeedMax : value);
+	}
+
+	public Vector3 Position
+	{
+		get => this.transform.position;
+	}
+
+	public bool IsRunning()
+	{
+		return _revSpeed > float.Epsilon;
+	}
+
+	void Start()
+	{
+		StartCoroutine(CalculateBladeSize());
+	}
+
+	void OnDestroy()
+	{
+		_doAdjust = false;
+	}
+
+	private IEnumerator CalculateBladeSize()
+	{
+		var meshFilters = GetComponentsInChildren<MeshFilter>();
+
+		_bladeBounds.center = Vector3.zero;
+		_bladeBounds.size = Vector3.zero;
+		foreach (var meshFilter in meshFilters)
+		{
+			var bounds = meshFilter.sharedMesh.bounds;
+			_bladeBounds.Encapsulate(bounds);
+		}
+
+		_doAdjust = true;
+		yield return DoAdjust();
+	}
+
+	private IEnumerator DoAdjust()
+	{
+		var targets = new List<float>();
+		var indices = new List<int>();
+		var articulationBody = GetComponent<ArticulationBody>();
+
+		while (_doAdjust)
+		{
+			var dof = articulationBody.GetDriveTargets(targets);
+			articulationBody.GetDofStartIndices(indices);
+			if (dof > 0)
+			{
+				var bodyIndex = articulationBody.index;
+				var targetIndex = indices[bodyIndex];
+				var currentTarget = targets[targetIndex];
+				var targetHeight = articulationBody.yDrive.lowerLimit + _height;
+				if (targetHeight >= articulationBody.yDrive.upperLimit)
+				{
+					targetHeight = articulationBody.yDrive.upperLimit;
+				}
+
+				if (!Mathf.Approximately(currentTarget, targetHeight))
+				{
+					articulationBody.SetDriveTarget(ArticulationDriveAxis.Y, targetHeight);
+				}
+			}
+			yield return null;
+		}
+
+		yield return null;
+	}
+}
\ No newline at end of file
diff --git a/Assets/Scripts/Devices/Modules/MowingBlade.cs.meta b/Assets/Scripts/Devices/Modules/MowingBlade.cs.meta
new file mode 100644
index 00000000..845b2043
--- /dev/null
+++ b/Assets/Scripts/Devices/Modules/MowingBlade.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: de13c3d505bb498458879e613e126aef
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Scripts/Tools/Mesh/TextureUtil.cs b/Assets/Scripts/Tools/Mesh/TextureUtil.cs
index 04e8c495..87d36dad 100644
--- a/Assets/Scripts/Tools/Mesh/TextureUtil.cs
+++ b/Assets/Scripts/Tools/Mesh/TextureUtil.cs
@@ -11,6 +11,13 @@
 
 public static class TextureUtil
 {
+	public enum FillOptions
+	{
+		Overwrite,
+		Lesser,
+		Greater
+	};
+
 	public static void Clear(this Texture2D texture)
 	{
 		Clear(texture, Color.clear);
@@ -47,12 +54,16 @@ public static void Fill(this Texture2D texture, ref Color[] colors)
 		texture.SetPixels(colors);
 	}
 
-	public static void FillCircle(this Texture2D texture, in float x, in float y, in float radius, in Color color)
+	public static void FillCircle(
+		this Texture2D texture, in float x, in float y, in float radius, in Color color,
+		in FillOptions option = FillOptions.Overwrite)
 	{
-		FillCircle(texture, (int)x, (int)y, (int)radius, color);
+		FillCircle(texture, (int)x, (int)y, (int)radius, color, option);
 	}
 
-	public static void FillCircle(this Texture2D texture, in int x, in int y, in int radius, in Color color)
+	public static void FillCircle(
+		this Texture2D texture, in int x, in int y, in int radius, in Color color,
+		in FillOptions option = FillOptions.Overwrite)
 	{
 		var rSquared = radius * radius;
 
@@ -67,7 +78,30 @@ public static void FillCircle(this Texture2D texture, in int x, in int y, in int
 			{
 				if ((x - u) * (x - u) + (y - v) * (y - v) < rSquared)
 				{
-					texture.SetPixel(u, v, color);
+					var pixelColor = texture.GetPixel(u, v);
+					switch (option)
+					{
+						case FillOptions.Lesser:
+							pixelColor.r = (pixelColor.r < color.r) ? pixelColor.r : color.r;
+							pixelColor.g = (pixelColor.g < color.g) ? pixelColor.g : color.g;
+							pixelColor.b = (pixelColor.b < color.b) ? pixelColor.b : color.b;
+							pixelColor.a = (pixelColor.a < color.a) ? pixelColor.a : color.a;
+							break;
+
+						case FillOptions.Greater:
+							pixelColor.r = (pixelColor.r > color.r) ? pixelColor.r : color.r;
+							pixelColor.g = (pixelColor.g > color.g) ? pixelColor.g : color.g;
+							pixelColor.b = (pixelColor.b > color.b) ? pixelColor.b : color.b;
+							pixelColor.a = (pixelColor.a > color.a) ? pixelColor.a : color.a;
+							break;
+
+						default:
+						case FillOptions.Overwrite:
+							pixelColor = color;
+							break;
+					}
+
+					texture.SetPixel(u, v, pixelColor);
 				}
 			}
 		}