Pretty sure, 2001 is the older style 12v VR6 (Engine Code: AUE or AQP???).
You can try using ECS Tuning OEM / Performance / Maintenance / Repair / Replacement Parts and kits for Audi, BMW, Mercedes Benz, Mini, Porsche and Volkswagen - ECS Tuning as a guide just keep in mind they're in the US so not everything is going to 100% accurate. Bosch supply a lot of the sensors for VAG so it can't hurt to look up their website either.
I believe the upstream (sensor before the CAT, front) part no. is 021906262B
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