The history of tai chi workout is expensive, and you won’t find it detailed in its entirety here. That’s what Wikipedia is for. But what you will find here is a parallel between the values of tai chi workout and Steel MBS.
Qigong: visualizing the creation of an energy ball and bringing into your dantien, or abdomen. You can call this move as "Gathering Heaven and Earth", however, the movement is from Earth and release to Heaven.