diff --git a/OP_animate_path.py b/OP_animate_path.py
index eb9dfa2..cd00f4d 100644
--- a/OP_animate_path.py
+++ b/OP_animate_path.py
@@ -1,7 +1,127 @@
 import bpy
 from . import fn
-from . import animate_path
 
+## step 2 : Auto animate the path (with feet selection) and modal to adjust speed
+
+def anim_path_from_y_translate():
+    print(fn.helper())
+
+    obj = bpy.context.object
+    if obj.type != 'ARMATURE':
+        return ('ERROR', 'active is not an armature type')
+
+    # found curve through constraint
+    b = bpy.context.active_pose_bone
+
+    if not 'shoe' in b.bone.name:
+        return ('ERROR', 'No "shoe" in active bone name\n-> Select foot that has the most reliable contact')
+
+    curve = None
+    if bpy.context.scene.anim_cycle_settings.path_to_follow:
+        curve = bpy.context.scene.anim_cycle_settings.path_to_follow
+
+    # if curve is not defined try to track it from constraints on armature
+    if not curve:
+        curve, _const = fn.get_follow_curve_from_armature(obj)
+        if isinstance(curve, str):
+            return curve, _const
+
+    act = fn.get_obj_action(obj)
+    if not act:
+        return ('ERROR', f'No action active on {obj.name}')
+    
+    # use original action as ref
+    if '_expanded' in act.name:
+        base_act_name = act.name.split('_expanded')[0]
+        base_act = bpy.data.action.get(base_act_name)
+        if base_act:
+            act = base_act
+            print(f'Using for {base_act_name} as reference')
+        else:
+            print(f'No base action found (searching for {base_act_name})')
+            
+    # CHANGE - retiré le int de la frame
+    # keyframes = [int(k.co[0]) for fcu in act.fcurves for k in fcu.keyframe_points]
+    
+
+    
+    ## calculate offset from bones
+    locy_fcu = None
+    for fcu in act.fcurves:
+        if fcu.data_path.split('"')[1] != b.bone.name:
+            continue
+        if fcu.data_path.split('.')[-1] == 'location' and fcu.array_index == 1:
+            locy_fcu = fcu
+    
+    if not locy_fcu:
+        return ('ERROR', 'Current bone, location.y animation not found')
+
+    start = None
+    end = None
+
+    ## based on extreme
+    for k in locy_fcu.keyframe_points:
+        # if k.select_control_point: # based on selection
+        if k.type == 'EXTREME': # using extreme keys.
+            if not start:
+                start = k
+            end = k
+        else:
+            if start is not None:
+                ## means back to other frame type after passed breaskdown we stop
+                break
+
+    if not start:
+        return ('ERROR', f"No extreme marked frame was found on bone {b.bone.name}.{['x','y','z'][locy_fcu.array_index]}")
+    if start == end:
+       return ('ERROR', 'Seems like only one key was marked as extreme ! Need at least two chained')
+    
+    start_frame = start.co.x
+    start_val = start.co.y
+
+    end_frame = end.co.x
+    end_val = end.co.y
+
+    move_frame = end_frame - start_frame
+
+    # Y positive value (forward) -> 
+    move_val = abs(start_val - end_val)
+    print('move_val: ', move_val)
+
+    length = fn.get_curve_length(curve)    
+    
+    steps = length / move_val
+
+    frame_duration = steps * move_frame
+
+
+    ### Clear keyframe before creating new ones 
+    # curve.data.animation_data_clear() # too much.. delete only eval_time
+    if curve.data.animation_data and curve.data.animation_data.action:
+        for fcu in curve.data.animation_data.action.fcurves:
+            if fcu.data_path == 'eval_time':
+                curve.data.animation_data.action.fcurves.remove(fcu)
+                break
+
+    anim_frame = bpy.context.scene.anim_cycle_settings.start_frame
+    curve.data.path_duration = frame_duration
+    curve.data.eval_time = 0
+    curve.data.keyframe_insert('eval_time', frame=anim_frame)# , options={'INSERTKEY_AVAILABLE'}
+    
+    curve.data.eval_time = frame_duration
+    curve.data.keyframe_insert('eval_time', frame=anim_frame + frame_duration)
+
+    ## all to linear (will be set to CONSTANT at the moment of sampling)
+    for fcu in curve.data.animation_data.action.fcurves:
+        if fcu.data_path == 'eval_time':
+            for k in fcu.keyframe_points:
+                k.interpolation = 'LINEAR'
+    
+    ## set all to constant
+    # for k in t_fcu.keyframe_points:
+    #     k.interpolation = 'CONSTANT'
+    
+    print('end of set_follow_path_anim')
 
 class UAC_OT_animate_path(bpy.types.Operator):
     bl_idname = "anim.animate_path"
@@ -19,7 +139,7 @@ class UAC_OT_animate_path(bpy.types.Operator):
 
     def execute(self, context):
         # TODO clear previous animation (keys) if there is any
-        err = animate_path.anim_path_from_y_translate()
+        err = anim_path_from_y_translate()
         if err:
             self.report({err[0]}, err[1])
             if err[0] == 'ERROR':
@@ -37,7 +157,7 @@ class UAC_OT_adjust_animation_length(bpy.types.Operator):
     def poll(cls, context):
         return context.object and context.object.type in ('ARMATURE', 'CURVE')
 
-    val = bpy.props.FloatProperty(name='End key value')
+    val : bpy.props.FloatProperty(name='End key value')
 
     def invoke(self, context, event):
         # check animation data of curve
@@ -48,7 +168,7 @@ class UAC_OT_adjust_animation_length(bpy.types.Operator):
                 self.report({'ERROR'}, 'no curve targeted in "Path" field')
                 return {"CANCELLED"}
 
-            curve, _const = fn.get_follow_curve_from_armature(obj)
+            curve, _const = fn.get_follow_curve_from_armature(context.object)
             if isinstance(curve, str):
                 self.report({curve}, _const)
                 return {"CANCELLED"}
@@ -58,6 +178,9 @@ class UAC_OT_adjust_animation_length(bpy.types.Operator):
             self.report({'ERROR'}, f'No action on {curve.name} data')
             return {"CANCELLED"}
 
+        # if '_expanded' in self.act.name:
+        #     self.report({'WARNING'}, f'Action is expanded')
+
         self.fcu = None
         for fcu in self.act.fcurves:
             if fcu.data_path == 'eval_time':
@@ -95,8 +218,8 @@ class UAC_OT_adjust_animation_length(bpy.types.Operator):
             self.k.co.y = self.init_ky
             context.area.header_text_set(None)
             return {"CANCELLED"}
-        
-        # return {'PASS_THROUGH'}
+        if event.type in ('MIDDLEMOUSE', 'SPACE'): # Mmaybe not mid mouse ?
+            return {'PASS_THROUGH'}
         return {"RUNNING_MODAL"}
 
     def execute(self, context):
@@ -110,7 +233,6 @@ class UAC_OT_adjust_animation_length(bpy.types.Operator):
 classes=(
 UAC_OT_animate_path,
 UAC_OT_adjust_animation_length,
-
 )
 
 def register():
diff --git a/OP_expand_cycle_step.py b/OP_expand_cycle_step.py
new file mode 100644
index 0000000..2fdcd78
--- /dev/null
+++ b/OP_expand_cycle_step.py
@@ -0,0 +1,312 @@
+import bpy
+from . import fn
+
+## step 3
+# - Bake cycle modifier keys -chained with- step the animation path
+# - Pin the feet (separated ops)
+
+def bake_cycle(on_selection=True):
+    print(fn.helper())
+    obj = bpy.context.object
+    if obj.type != 'ARMATURE':
+        print('ERROR', 'active is not an armature type')
+        return
+
+    act = fn.set_expanded_action(obj)
+    if not act:
+        return
+    print('action', act.name)
+
+    act = obj.animation_data.action
+
+    ct = 0
+    for fcu in act.fcurves:
+        
+        ## if a curve is not cycled don't touch
+        if not [m for m in fcu.modifiers if m.type == 'CYCLES']:
+            continue
+
+        #-# only on location :
+        # if not fcu.data_path.endswith('.location'):
+        #     continue
+
+        # prop = fcu.data_path.split('.')[-1]
+
+        b_name = fcu.data_path.split('"')[1]
+        pb = obj.pose.bones.get(b_name)
+        if not pb:
+            print(f'{b_name} is invalid')
+            continue
+        
+        #-# limit on selection if passed
+        if on_selection and not pb.bone.select:
+            continue
+
+        #-# only on selected and visible curve
+        # if not fcu.select or fcu.hide:
+        #     continue
+
+        fcu_kfs = []
+        for k in fcu.keyframe_points:
+            k_dic = {}
+            # k_dic['k'] = k
+            k_dic['co'] = k.co
+            k_dic['interpolation'] = k.interpolation
+            k_dic['type'] = k.type
+            fcu_kfs.append(k_dic)
+
+        first = fcu_kfs[0]['co'][0]
+        # second = fcu_kfs[1]['co'][0] 
+        # before_last= fcu_kfs[-2]['co'][0]
+        last = fcu_kfs[-1]['co'][0]
+        # first_offset = second - first
+        
+        current_offset = offset = last - first
+        print('offset: ', offset)
+
+        ## expand to end frame
+        
+        end = bpy.context.scene.frame_end # maybe add possibility define target manually
+        iterations = ((end - last) // offset) + 1
+        print('iterations: ', iterations)
+        for _i in range(int(iterations)):
+            for kf in fcu_kfs:
+                # create a new key, adding offset to keys  
+                fcu.keyframe_points.add(1)
+                new = fcu.keyframe_points[-1]
+                for att, val in kf.items():
+                    if att == 'co':
+                        new.co = (val[0] + current_offset, val[1])
+                    else:
+                        setattr(new, att, val)
+            current_offset += offset
+        
+        ct += 1
+    
+    if not ct:
+        return ('ERROR', 'No fcurve treated (! action duplicated to _expand !)')
+
+    print('end of anim cycle keys baking')
+    # C.scene.frame_current = org_frame
+        # detect last key in contact
+
+
+def step_path():
+    print(fn.helper())
+
+    obj = bpy.context.object
+    if obj.type != 'ARMATURE':
+        return ('ERROR', 'active is not an armature type')
+
+    # found curve through constraint
+    curve, const = fn.get_follow_curve_from_armature(obj)
+    if not const:
+        return ('ERROR', 'No constraints found')
+
+    act = fn.get_obj_action(obj)
+    if not act: return
+    
+    # CHANGE - retiré le int de la frame
+    # keyframes = [int(k.co[0]) for fcu in act.fcurves for k in fcu.keyframe_points]
+    keyframes = [k.co[0] for fcu in act.fcurves for k in fcu.keyframe_points]
+    keyframes = list(set(keyframes))
+    
+    curve = const.target
+    if not curve:
+        return ('ERROR', f'no target set for {curve.name}')
+
+    # get a new generated action for the curve
+    # Follow path animation is on the DATA of the fcurve
+    fact = fn.set_generated_action(curve.data)
+    if not fact:
+        return
+    
+    t_fcu = False
+    for fcu in fact.fcurves:
+        ## fcu data_path is just a string
+        if fcu.data_path == 'eval_time':
+            t_fcu = fcu
+    
+    if not t_fcu:
+        return ('ERROR', f'no eval_time animation in {curve.name}')
+    
+    timevalues = [t_fcu.evaluate(kf) for kf in keyframes]
+    for kf, value in zip(keyframes, timevalues):
+        ## or use t_fcu.keyframe_points.add(len(kf))
+        curve.data.eval_time = value
+        curve.data.keyframe_insert('eval_time', frame=kf, options={'INSERTKEY_AVAILABLE'})
+        # ``INSERTKEY_NEEDED````INSERTKEY_AVAILABLE`` (only available channels)
+
+    ## set all to constant
+    for k in t_fcu.keyframe_points:
+        k.interpolation = 'CONSTANT'
+    
+    print('end of step_anim')
+
+
+class UAC_OT_bake_cycle_and_step(bpy.types.Operator):
+    bl_idname = "anim.bake_cycle_and_step"
+    bl_label = "Bake key and step path "
+    bl_description = "Bake the key and step the animation path according to those key"
+    bl_options = {"REGISTER", "UNDO"}
+
+    @classmethod
+    def poll(cls, context):
+        return context.object and context.object.type == 'ARMATURE'
+
+    def execute(self, context):
+        
+        err = bake_cycle(context.scene.anim_cycle_settings.expand_on_selected_bones)
+        if err:
+            self.report({err[0]}, err[1])
+            if err[0] == 'ERROR':
+                return {"CANCELLED"}
+        
+        # CHAINED ACTION : step the path of the curve path
+        err = step_path()
+        if err:
+            self.report({err[0]}, err[1])
+            if err[0] == 'ERROR':
+                return {"CANCELLED"}
+
+        # CHAINED ACTION pin feet ?? : Step the path of the curve path
+
+        return {"FINISHED"}
+
+
+def pin_down_feets():
+    print(fn.helper())
+    obj = bpy.context.object
+    if obj.type != 'ARMATURE':
+        print('ERROR', 'active is not an armature type')
+        return
+
+    # Delete current action if its not the main one
+    # create a new '_autogen' one 
+    act = fn.set_generated_action(obj)
+    if not act:
+        return ('ERROR', f'No action on {obj.name}')
+    print('action', act.name)
+
+    # detect contact key
+    # [ 'array_index', 'auto_smoothing', 'bl_rna', 'color', 'color_mode', 'convert_to_keyframes', 'convert_to_samples', 'data_path',
+    #  'driver', 'evaluate', 'extrapolation', 'group', 'hide', 'is_empty', 'is_valid', 'keyframe_points', 'lock', 'modifiers', 'mute',
+    #  'range', 'rna_type', 'sampled_points', 'select', 'update', 'update_autoflags']
+
+    act = obj.animation_data.action
+    org_frame = bpy.context.scene.frame_current
+    
+    # TODO autodetect contact frame ?
+
+    done = {}
+    for fcu in act.fcurves:
+
+        # check only location
+        if not fcu.data_path.endswith('.location'):
+            continue
+
+        # prop = fcu.data_path.split('.')[-1]
+
+        b_name = fcu.data_path.split('"')[1]
+        # print('b_name: ', b_name, fcu.is_valid)
+
+        pb = obj.pose.bones.get(b_name)
+        if not pb:
+            print(f'{b_name} is invalid')
+            continue
+
+        start_contact = None
+        for k in fcu.keyframe_points:
+            
+            if k.type == 'EXTREME':
+                bpy.context.scene.frame_set(k.co[0])
+                if start_contact is None:
+                    start_contact=k.co[0]
+                    # record coordinate relative to referent object (or world coord)
+                    bone_mat = pb.matrix.copy()
+                    # bone_mat = obj.matrix_world @ pb.matrix.copy()
+                    continue
+                
+                if b_name in done.keys():
+                    if k.co[0] in done[b_name]:
+                        continue
+                else:
+                    # mark as treated (all curve of this bone at this time)
+                    done[b_name] = [k.co[0]]
+
+                #-# Insert keyframe to match Hold position
+                # print(f'Apply on {b_name} at {k.co[0]}')
+                
+                #-# assign previous matrix
+                pbl = pb.location.copy()
+                # l, _r, _s = bone_mat.decompose()
+                
+                pb.matrix = bone_mat # Exact same position
+                # pb.location.x = pbl.x # dont touch x either
+                pb.location.z = pbl.z
+                # pb.location.y = l.y (weirdly not working)
+
+                # bpy.context.view_layer.update()
+
+                #-# moyenne des 2 ?
+                # pb.location, pb.rotation_euler, pb.scale = average_two_matrix(pb.matrix, bone_mat) ## marche pas du tout !
+                
+                ## insert keyframe
+                pb.keyframe_insert('location')
+                # only touched Y location
+                # pb.keyframe_insert('rotation_euler')
+
+                k.type = 'JITTER' # 'BREAKDOWN' 'MOVING_HOLD' 'JITTER'
+
+            else:
+                if start_contact is not None:
+                    # print('fcu.data_path: ', fcu.data_path, fcu.array_index)
+                    # print(f'{b_name} contact range {start_contact} - {k.co[0]}')
+                    start_contact = None
+                    
+                # print(i, fcu.data_path, fcu.array_index)
+            # print('time', k.co[0], '- value', k.co[1])
+            
+            #k.handle_left
+            #k.handle_right
+            ##change handler type ([‘FREE’, ‘VECTOR’, ‘ALIGNED’, ‘AUTO’, ‘AUTO_CLAMPED’], default ‘FREE’)
+            #k.handle_left_type = 'AUTO_CLAMPED'
+            #k.handle_right_type = 'AUTO_CLAMPED'
+
+    bpy.context.scene.frame_current = org_frame
+    # detect last key in contact
+
+
+
+class UAC_OT_pin_feets(bpy.types.Operator):
+    bl_idname = "anim.pin_feets"
+    bl_label = "Pin Feets"
+    bl_description = "Pin feets on keys marked as extreme"
+    bl_options = {"REGISTER", "UNDO"}
+
+    @classmethod
+    def poll(cls, context):
+        return context.object and context.object.type == 'ARMATURE'
+
+    def execute(self, context):
+        # context.scene.anim_cycle_settings.expand_on_selected_bones
+        err = pin_down_feets()
+        if err:
+            self.report({err[0]}, err[1])
+            if err[0] == 'ERROR':
+                return {"CANCELLED"}
+
+        return {"FINISHED"}
+
+classes=(
+UAC_OT_bake_cycle_and_step,
+UAC_OT_pin_feets,
+)
+
+def register():
+    for cls in classes:
+        bpy.utils.register_class(cls)
+
+def unregister():
+    for cls in reversed(classes):
+        bpy.utils.unregister_class(cls)
\ No newline at end of file
diff --git a/OP_setup_curve_path.py b/OP_setup_curve_path.py
index fb29269..a150808 100644
--- a/OP_setup_curve_path.py
+++ b/OP_setup_curve_path.py
@@ -1,20 +1,55 @@
 import bpy, re
-
 from . import fn
 
+## step 1 : Create the curve and/or follow path constraint, snap to ground
+
+
+def create_follow_path_constraint(ob, curve):
+    pref = fn.get_addon_prefs()
+    bone_name = pref.tgt_bone
+    root = ob.pose.bones.get(bone_name)
+    if not root:
+        return ('ERROR', f'posebone {bone_name} not found in armature {ob.name} check addon preferences to change name')
+
+    # Clear bone follow path constraint 
+    exiting_fp_constraints = [c for c in root.constraints if c.type == 'FOLLOW_PATH']
+    for c in exiting_fp_constraints:
+        root.constraints.remove(c)
+
+    # loc = ob.matrix_world @ root.matrix.to_translation()
+    if root.name == 'root' and root.location != (0,0,0):
+        old_loc = root.location
+        root.location = (0,0,0)
+        print(f'root moved from {old_loc} to (0,0,0) to counter curve offset')
+
+    const = root.constraints.new('FOLLOW_PATH')
+    const.target = curve
+    # axis only in this case, should be in addon to prefs
+    const.forward_axis = 'FORWARD_X'
+    const.use_curve_follow = True
+    return curve, const
 
 def snap_curve():
     obj = bpy.context.object
+
+    curve = const = None
     if obj.type == 'ARMATURE':
         curve, const = fn.get_follow_curve_from_armature(obj)
+    
+    to_follow = bpy.context.scene.anim_cycle_settings.path_to_follow
+    if not curve and not to_follow:
+        return ('ERROR', f'No curve pointed by "Path" filed')
 
-    elif obj.type == 'CURVE':
-        print('ERROR', f'Select the armature related to curve {obj.name}')
-        return
-        ## need to find object using follow curve to find constraint... dirty not EZ
-    else:
-        print('ERROR', 'Not an armature object')
-        return
+    # get curve from field
+    if not curve:
+        curve, const = create_follow_path_constraint(obj, to_follow)
+        if not curve:
+            return (curve, const) # those are error message
+
+    # if obj.type == 'CURVE':
+    #     return ('ERROR', f'Select the armature related to curve {obj.name}')
+    # else:
+    #     return ('ERROR', 'Not an armature object')
 
     gnd = fn.get_gnd()
     if not gnd:
@@ -56,10 +91,8 @@ def snap_curve():
     
     # Apply and decimate
     bpy.ops.object.modifier_apply({'object': nc}, modifier="Shrinkwrap", report=False)
-
-
-# TODO Create the follow path modifier automatically
-
+    bpy.context.scene.anim_cycle_settings.path_to_follow = nc
+    # return 0, nc
 
 class UAC_OT_create_curve_path(bpy.types.Operator):
     bl_idname = "anim.create_curve_path"
@@ -105,6 +138,8 @@ class UAC_OT_create_curve_path(bpy.types.Operator):
         context.scene.anim_cycle_settings.path_to_follow = curve
         ## back to objct mode ?
         # bpy.ops.object.mode_set(mode='OBJECT', toggle=False)
+        
+        ## TODO replace this part with >> create_follow_path_constraint(ob, curve)
 
         if root.name == 'root' and root.location != (0,0,0):
             old_loc = root.location
@@ -120,6 +155,24 @@ class UAC_OT_create_curve_path(bpy.types.Operator):
 
         return {"FINISHED"}
 
+
+class UAC_OT_create_follow_path(bpy.types.Operator):
+    bl_idname = "anim.create_follow_path"
+    bl_label = "Create follow path constraint"
+    bl_description = "Create follow path targeting curve in field"
+    bl_options = {"REGISTER", "UNDO"}
+
+    @classmethod
+    def poll(cls, context):
+        return context.object and context.object.type == 'ARMATURE'
+
+    def execute(self, context):
+        ob = context.object
+        curve = context.scene.anim_cycle_settings.path_to_follow
+        create_follow_path_constraint(ob, curve)
+
+        return {"FINISHED"}
+
 class UAC_OT_snap_curve_to_ground(bpy.types.Operator):
     bl_idname = "anim.snap_curve_to_ground"
     bl_label = "snap_curve_to_ground"
@@ -131,11 +184,16 @@ class UAC_OT_snap_curve_to_ground(bpy.types.Operator):
         return context.object and context.object.type == 'ARMATURE'
 
     def execute(self, context):
-        snap_curve()
+        err = snap_curve()
+        if err:
+            self.report({err[0]}, err[1])
+            if err[0] == 'ERROR':
+                return {"CANCELLED"}
         return {"FINISHED"}
 
 classes=(
 UAC_OT_create_curve_path,
+UAC_OT_create_follow_path,
 UAC_OT_snap_curve_to_ground,
 )
 
diff --git a/OP_snap_contact.py b/OP_snap_contact.py
new file mode 100644
index 0000000..9922f2c
--- /dev/null
+++ b/OP_snap_contact.py
@@ -0,0 +1,269 @@
+import bpy
+import bmesh
+from mathutils import Vector  
+
+
+def raycast_from_loc_to_obj(src, tgt, direction=None, dg=None):
+    ''' Raycast from a world space source on a target ovject using a direction Vector
+
+    :origin: a world coordinate location as source of the ray
+    :tgt: an object onto project the ray
+    :direction: a direction vector. If not passed, point bottom : Vector((0,0,-1))
+    return world coordiante of the hit if any
+    '''
+
+    if direction is None:
+        direction = Vector((0,0,-1))
+
+    mw = tgt.matrix_world
+    origin = mw.inverted() @ src
+
+    hit, loc, _norm, _face = tgt.ray_cast(origin, direction, depsgraph=dg)
+
+    if hit:
+        # print("Hit at ", loc, " (local)")
+        world_loc = mw @ loc
+        # bpy.ops.object.empty_add(location = world_loc) # test
+        return world_loc
+
+    return False
+
+def worldspace_move_posebone(b, vec, is_target=False):
+    ''' Move or snap a posebone using a vector in worldspace
+    :b: posebone
+    :vec: Vector to move posebone worldspace (if not attached to parent)
+    :is_target: if True the posebone snap to the vector, else the vector is added
+    '''
+
+    a = b.id_data
+
+    if is_target:
+        target_vec = vec
+    else:
+        target_vec = (a.matrix_world @ b.matrix).translation + vec
+
+    mw = a.convert_space(pose_bone=b, 
+            matrix=b.matrix, 
+            from_space='POSE', 
+            to_space='WORLD')
+    
+    mw.translation = target_vec
+    
+    b.matrix = a.convert_space(pose_bone=b, 
+            matrix=mw, 
+            from_space='WORLD', 
+            to_space='POSE')
+    return target_vec
+
+def snap_foot(pb, gnd):
+    '''Get posebone and ground to touch'''
+
+    # arm = bpy.context.object# bpy.context.scene.objects.get('Armature')
+    arm = pb.id_data
+    print('arm: ', arm)
+
+    # find tip bone :
+    tip = [p for p in pb.children_recursive if p.name.startswith('DEF')][-1]
+    print('tip: ', tip)
+    # get deformed object VG (find skinned mesh)
+
+    ob = None
+
+    for o in arm.proxy_collection.instance_collection.all_objects:
+        if o.type != 'MESH':
+            continue
+        for m in o.modifiers:
+            if m.type == 'ARMATURE':
+                # print(o.name, m.object)
+                if m.object == arm.proxy: # if point to orignal rig
+                    ## here we want body, not body_deform
+                    if not 'body' in o.name:
+                        continue
+                    if '_deform' in o.name:
+                        continue
+                    ob = o
+                    break
+    if not ob:
+        print('ERROR', 'no skinned mesh found')
+        return
+
+    print('check skinning of', ob.name)
+    ### MESH baking
+    #-# Get Vertices position for a specific vertex group if over weight limit
+
+    # me0 = simple_to_mesh(ob) # if no need to apply modifier just make ob.data.copy()
+    # # generate new
+    # bm = 
+    # bm.from_mesh(me0)
+    # bm.verts.ensure_lookup_table()
+    # bm.edges.ensure_lookup_table()
+    # bm.faces.ensure_lookup_table()
+
+    # # store weight values
+    # weight = []
+    # ob_tmp = bpy.data.objects.new("temp", me0)
+    # for g in ob.vertex_groups:
+    #     ob_tmp.vertex_groups.new(name=g.name)
+    # for v in me0.vertices:
+    #     try:
+    #         weight.append(ob_tmp.vertex_groups[tip.name].weight(v.index))
+    #     except:
+    #         weight.append(0)
+    
+    # verts = [vert for vid, vert in enumerate(bake_mesh.vertices) \
+    #     if ob_tmp.vertex_groups[tip.name].index in [i.group for i in vert.groups] \
+    #     and weight[vid] > 0.5]
+
+    #-# /
+
+    #-# Get Vertices position for a specific vertex group if over weight limit
+    #-# (Does not work if a subdivision modifier is on)
+
+    for m in ob.modifiers:
+        # if m.type in ('SUBSURF', 'TRIANGULATE'):
+        if m.type == 'SUBSURF':
+            m.show_viewport = False
+
+    dg = bpy.context.evaluated_depsgraph_get()
+    obeval = ob.evaluated_get(dg).copy()
+    print('object: ', ob.name)
+    
+    ## bpy.context.object.proxy_collection.instance_collection.all_objects['body_deform']
+    ## bpy.context.object.proxy_collection.instance_collection.all_objects['body']
+
+    ## Hide modifier 
+    for m in obeval.modifiers:
+        if m.type == 'SUBSURF':
+            m.show_viewport = False # m.levels = 0
+
+    bake_mesh = obeval.to_mesh(preserve_all_data_layers=True, depsgraph=dg)
+
+    ct = 0
+    vg = obeval.vertex_groups[tip.name]
+    world_co = []
+    for idx, vert in enumerate(bake_mesh.vertices):
+        grp_indexes = [i.group for i in vert.groups]
+        if vg.index in grp_indexes and vg.weight(idx) > 0.5:
+            ct +=1
+            world_co.append(ob.matrix_world @ vert.co)
+
+    if not ct:
+        print('ERROR', 'No vertices found')
+        return
+    
+    #-# # list comprehension
+    # verts = [vert for vid, vert in enumerate(bake_mesh.vertices) \
+    #     if obeval.vertex_groups[tip.name].index in [i.group for i in vert.groups] \
+    #     and obeval.vertex_groups[tip.name].weight(vid) > 0.5]   
+    #world_co = [ob.matrix_world @ v.co for v in verts]
+    #-# /
+    
+    
+    print(len(world_co), 'vertices')
+
+    # sort by height
+    world_co.sort(key=lambda x: x[2])
+    
+    ### Raycast and find lowest distance
+    up_check = True
+    updists = []
+    dists = []
+
+    for co in world_co: # [:6] (no neede to get all)
+        contact = raycast_from_loc_to_obj(co, gnd, Vector((0,0,-1)), dg=dg)
+        if contact:
+            dists.append((co - contact).length)
+        
+        if not contact and up_check:
+            contact = raycast_from_loc_to_obj(co, gnd, Vector((0,0,1)), dg=dg)
+            if contact:
+                updists.append((co - contact).length)
+
+        if not contact:
+            continue
+        # empty_at(contact, size=0.2)
+    
+    if not dists and not updists:
+        print('ERROR', 'raycast could not found contact')
+        return
+
+    # move bones by the minimal amount.
+    if updists:
+        move = max(updists)
+        vec = Vector((0,0, move))
+        worldspace_move_posebone(pb, vec)
+        print('INFO', f'move up by {move}')
+    
+    else:
+        move = min(dists)
+        vec = Vector((0,0, -move))
+        worldspace_move_posebone(pb, vec)
+        print('INFO', f'move down by {move}')
+    
+
+    ## restore
+
+    for m in ob.modifiers:
+        if m.type == 'SUBSURF':
+        # if m.type in ('SUBSURF', 'TRIANGULATE'):
+            m.show_viewport = True
+    # obeval.to_mesh_clear()
+
+def snap_feet():
+
+    ## add undo push if launched from shelf (TODO need test !!!)
+    # bpy.ops.ed.undo_push(message='Snap to ground')
+
+    # if bpy.context.object.type != 'ARMATURE':
+    #     print('ERROR', 'Selection is not an armature')
+    #     return
+
+    if bpy.context.mode != 'POSE':
+        print('ERROR', 'Not in pose mode')
+        return
+    
+    
+    gnd = bpy.context.scene.anim_cycle_settings.gnd
+    print('ground: ', gnd.name)
+    if not gnd:
+        return ('ERROR', 'Need to point ground object in "ground" field')
+    # Snap all selected feets, posebone to ground
+
+    for pb in bpy.context.selected_pose_bones:
+        ## find the foot bones.
+        if '_shoe' in pb.name:
+            # get pb lowest surface deformed point
+            snap_foot(pb, gnd)
+
+class UAC_OT_contact_to_ground(bpy.types.Operator):
+    bl_idname = "anim.contact_to_ground"
+    bl_label = "Ground Feet"
+    bl_description = "Ground selected feets"
+    bl_options = {"REGISTER", "UNDO"}
+
+    @classmethod
+    def poll(cls, context):
+        return context.object and context.object.type == 'ARMATURE'
+
+    def execute(self, context):
+        # context.scene.anim_cycle_settings.expand_on_selected_bones
+        err = snap_feet()
+        if err:
+            self.report({err[0]}, err[1])
+            if err[0] == 'ERROR':
+                return {"CANCELLED"}
+
+        return {"FINISHED"}
+
+
+classes=(
+UAC_OT_contact_to_ground,
+)
+
+def register():
+    for cls in classes:
+        bpy.utils.register_class(cls)
+
+def unregister():
+    for cls in reversed(classes):
+        bpy.utils.unregister_class(cls)
\ No newline at end of file
diff --git a/__init__.py b/__init__.py
index e8bfea7..9cee7fa 100644
--- a/__init__.py
+++ b/__init__.py
@@ -2,7 +2,7 @@ bl_info = {
     "name": "Unfold Anim Cycle",
     "description": "Anim utility to develop walk/run cycles along a curve",
     "author": "Samuel Bernou",
-    "version": (0, 1, 1),
+    "version": (0, 2, 0),
     "blender": (2, 92, 0),
     "location": "View3D",
     "warning": "WIP",
@@ -15,6 +15,8 @@ import bpy
 
 from . import OP_setup_curve_path
 from . import OP_animate_path
+from . import OP_expand_cycle_step
+from . import OP_snap_contact
 from . import panels
 
 class UAC_PGT_settings(bpy.types.PropertyGroup) :
@@ -32,12 +34,14 @@ class UAC_PGT_settings(bpy.types.PropertyGroup) :
     # gnd : bpy.props.StringProperty(
     #     name="Ground object", description="Choose the ground object to use")
     
-    expand_on_selected_boned : bpy.props.BoolProperty(
+    expand_on_selected_bones : bpy.props.BoolProperty(
         name="On selected", description="Expand on selected bones",
         default=True, options={'HIDDEN'})
 
-    # IntProperty : bpy.props.IntProperty(
-    #     name="int prop", description="", default=25, min=1, max=2**31-1, soft_min=1, soft_max=2**31-1, step=1, options={'HIDDEN'})#, subtype='PIXEL'
+    start_frame : bpy.props.IntProperty(
+        name="Start Frame", description="Starting frame for animation path", 
+        default=100, 
+        min=0, max=2**31-1, soft_min=0, soft_max=2**31-1, step=1, options={'HIDDEN'})#, subtype='PIXEL'
 
 
 class UAC_addon_prefs(bpy.types.AddonPreferences):
@@ -57,55 +61,16 @@ class UAC_addon_prefs(bpy.types.AddonPreferences):
 
     def draw(self, context):
             layout = self.layout
-
             ## some 2.80 UI options
             # layout.use_property_split = True
             # flow = layout.grid_flow(row_major=True, columns=0, even_columns=True, even_rows=False, align=False)
             # layout = flow.column()
 
             layout.label(text='Create')
-
             layout.prop(self, "tgt_bone")
 
-            # display the bool prop
             layout.prop(self, "debug")
 
-            # draw something only if a prop evaluate True
-            # if self.super_special_option:
-            #     layout.label(text="/!\ Carefull, the super special option is especially powerfull")
-            #     layout.label(text="    and with great power... well you know !")
-
-
-
-'''
-addon_keymaps = []
-def register_keymaps():
-    addon = bpy.context.window_manager.keyconfigs.addon
-    km = addon.keymaps.new(name = "3D View", space_type = "VIEW_3D")
-    # km = addon.keymaps.new(name = "Grease Pencil", space_type = "EMPTY", region_type='WINDOW')
-
-    # kmi = km.keymap_items.new(
-    #     name="name",
-    #     idname="anim.snap_curve_to_ground",
-    #     type="F",
-    #     value="PRESS",
-    #     shift=True,
-    #     ctrl=True,
-    #     alt = False,
-    #     oskey=False
-    #     )
-
-    kmi = km.keymap_items.new('anim.snap_curve_to_ground', type='F5', value='PRESS')
-
-
-    addon_keymaps.append((km, kmi))
-
-def unregister_keymaps():
-    for km, kmi in addon_keymaps:
-        km.keymap_items.remove(kmi)
-    addon_keymaps.clear()
-'''
-
 ### --- REGISTER ---
 
 classes=(
@@ -118,6 +83,8 @@ def register():
         bpy.utils.register_class(cls)
     OP_setup_curve_path.register()
     OP_animate_path.register()
+    OP_expand_cycle_step.register()
+    OP_snap_contact.register()
     panels.register()
     
     # if not bpy.app.background:
@@ -128,6 +95,8 @@ def unregister():
     # if not bpy.app.background:
     #unregister_keymaps()
     panels.unregister()
+    OP_snap_contact.unregister()
+    OP_expand_cycle_step.unregister()
     OP_animate_path.unregister()
     OP_setup_curve_path.unregister()
 
diff --git a/animate_path.py b/animate_path.py
deleted file mode 100644
index f31bd96..0000000
--- a/animate_path.py
+++ /dev/null
@@ -1,113 +0,0 @@
-import bpy
-from . import fn
-
-def anim_path_from_y_translate():
-    print(fn.helper())
-
-    obj = bpy.context.object
-    if obj.type != 'ARMATURE':
-        return ('ERROR', 'active is not an armature type')
-
-    # found curve through constraint
-    b = bpy.context.active_pose_bone
-
-    if not 'shoe' in b.bone.name:
-        return ('ERROR', 'no "shoe" in active bone name')
-
-    curve = None
-    if bpy.context.scene.anim_cycle_settings.path_to_follow:
-        curve = bpy.context.scene.anim_cycle_settings.path_to_follow
-
-    # if curve is not defined try to track it from constraints on armature
-    if not curve:
-        curve, _const = fn.get_follow_curve_from_armature(obj)
-        if isinstance(curve, str):
-            return curve, _const
-
-    act = fn.get_obj_action(obj)
-    if not act:
-        return ('ERROR', f'No action active on {obj.name}')
-    
-    # CHANGE - retiré le int de la frame
-    # keyframes = [int(k.co[0]) for fcu in act.fcurves for k in fcu.keyframe_points]
-    
-
-    
-    ## calculate offset from bones
-    locy_fcu = None
-    for fcu in act.fcurves:
-        if fcu.data_path.split('"')[1] != b.bone.name:
-            continue
-        if fcu.data_path.split('.')[-1] == 'location' and fcu.array_index == 1:
-            locy_fcu = fcu
-    
-    if not locy_fcu:
-        return ('ERROR', 'Current bone, location.y animation not found')
-
-    start = None
-    end = None
-
-    ## based on extreme
-    for k in locy_fcu.keyframe_points:
-        # if k.select_control_point: # based on selection
-        if k.type == 'EXTREME': # using extreme keys.
-            if not start:
-                start = k
-            end = k
-        else:
-            if start is not None:
-                ## means back to other frame type after passed breaskdown we stop
-                break
-
-    if not start:
-        return ('ERROR', f"No extreme marked frame was found on bone {b.bone.name}.{['x','y','z'][locy_fcu.array_index]}")
-    if start == end:
-       return ('ERROR', 'Seems like only one key was marked as extreme ! Need at least two chained')
-    
-    start_frame = start.co.x
-    start_val = start.co.y
-
-    end_frame = end.co.x
-    end_val = end.co.y
-
-    move_frame = end_frame - start_frame
-
-    # Y positive value (forward) -> 
-    move_val = abs(start_val - end_val)
-    print('move_val: ', move_val)
-
-    length = fn.get_curve_length(curve)    
-    
-    steps = length / move_val
-
-    frame_duration = steps * move_frame
-
-
-    ### Clear keyframe before creating new ones 
-    # curve.data.animation_data_clear() # too much.. delete only eval_time
-    if curve.data.animation_data and curve.data.animation_data.action:
-        for fcu in curve.data.animation_data.action.fcurves:
-            if fcu.data_path == 'eval_time':
-                curve.data.animation_data.action.fcurves.remove(fcu)
-                break
-
-    # TODO check if need to start at 100 or at current frame...
-    anim_frame = 100 # C.scene.frame_current
-    curve.data.path_duration = frame_duration
-    curve.data.eval_time = 0
-    curve.data.keyframe_insert('eval_time', frame=anim_frame)# , options={'INSERTKEY_AVAILABLE'}
-    
-    curve.data.eval_time = frame_duration
-    curve.data.keyframe_insert('eval_time', frame=anim_frame + frame_duration)
-
-    ## all to linear (will be set to CONSTANT at the moment of sampling)
-    for fcu in curve.data.animation_data.action.fcurves:
-        if fcu.data_path == 'eval_time':
-            for k in fcu.keyframe_points:
-                k.interpolation = 'LINEAR'
-    
-    ## set all to constant
-    # for k in t_fcu.keyframe_points:
-    #     k.interpolation = 'CONSTANT'
-    
-    print('end of set_follow_path_anim')
\ No newline at end of file
diff --git a/fn.py b/fn.py
index b611db0..bec12e3 100644
--- a/fn.py
+++ b/fn.py
@@ -41,7 +41,8 @@ def get_follow_curve_from_armature(arm):
     name = pref.tgt_bone
     
     parents = []
-    root = b.id_data.pose.bones.get(name)
+    # root = b.id_data.pose.bones.get(name)
+    root = arm.pose.bones.get(name)
     for c in root.constraints:
         if c.type == 'FOLLOW_PATH':
             const = c
@@ -67,6 +68,8 @@ def get_follow_curve_from_armature(arm):
 
     return curve, const
 
+# --- ACTIONS
+
 def get_obj_action(obj):
     print(helper())
     act = obj.animation_data
@@ -111,6 +114,36 @@ def set_generated_action(obj):
     return new_act
 
 
+def set_expanded_action(obj):
+    '''Backup object action and return a new action
+    associated with the object
+    '''
+    print(helper())
+
+    rexpand = re.compile(r'_expanded\.?\d{0,3}$')
+    act = obj.animation_data.action
+
+    if rexpand.search(act.name):
+        # is an autogenerated one
+        org_action_name = rexpand.sub('', act.name)
+        org_action = bpy.data.actions.get(org_action_name)
+        if not org_action:
+            print('ERROR', f'{org_action_name} not found')
+            return
+
+        obj.animation_data.action = org_action
+        bpy.data.actions.remove(act)
+        
+        act = org_action
+    
+    # backup action before doing anything crazy
+    act.use_fake_user = True
+    new_act = act.copy()
+    new_act.name = act.name + '_expanded'
+    obj.animation_data.action = new_act
+    return new_act
+
+
 def get_curve_length(ob):
     dg = bpy.context.evaluated_depsgraph_get()
     obeval = ob.evaluated_get(dg)#.copy()
diff --git a/panels.py b/panels.py
index 8b268c2..f541d7d 100644
--- a/panels.py
+++ b/panels.py
@@ -1,5 +1,5 @@
 import bpy
-
+from . import fn
 
 class UAC_PT_walk_cycle_anim_panel(bpy.types.Panel):
     bl_space_type = "VIEW_3D"
@@ -9,31 +9,65 @@ class UAC_PT_walk_cycle_anim_panel(bpy.types.Panel):
 
     def draw(self, context):
         layout = self.layout
-        layout.operator('anim.create_curve_path', text='Create Curve at Root Position', icon='CURVE_BEZCURVE')
+        if not context.scene.anim_cycle_settings.path_to_follow:
+            layout.operator('anim.create_curve_path', text='Create Curve at Root Position', icon='CURVE_BEZCURVE')
         #-# path and ground objects
         layout.prop_search(context.scene.anim_cycle_settings, "path_to_follow", context.scene, "objects")
         layout.prop_search(context.scene.anim_cycle_settings, "gnd", context.scene, "objects")
-        layout.operator('anim.snap_curve_to_ground', text='Snap curve to ground', icon='SNAP_ON')
-        layout.operator('anim.animate_path', text='Animate Path (select foot)', icon='ANIM')
-        layout.operator('anim.adjust_animation_length', icon='MOD_TIME')
-        # layout.label(text='Loop cycle')
 
-        ## Créer automatiquement le follow path et l'anim de base
+        
+        prefs = fn.get_addon_prefs()
+        ob = context.object
+        
+        # Determine if already has a constraint (a bit too much condition in a panel...)
+        constrained = False
+        if ob and ob.type == 'ARMATURE':
+            pb = ob.pose.bones.get(prefs.tgt_bone)
+            if pb:
+                follow = pb.constraints.get('Follow Path')
+                if follow and follow.target:
+                    layout.label(text=f'{pb.name} -> {follow.target.name}', icon='CON_FOLLOWPATH')
+                    constrained = True
+
+        if not constrained:
+            ## Créer automatiquement le follow path TODO et l'anim de base
+            layout.operator('anim.create_follow_path', text='Add follow path constraint', icon='CON_FOLLOWPATH')
+
+        
+        layout.operator('anim.snap_curve_to_ground', text='Snap curve to ground', icon='SNAP_ON')
+
+
+        row=layout.row()
+        row.operator('anim.animate_path', text='Animate Path (select foot)', icon='ANIM')
+        row.prop(context.scene.anim_cycle_settings, "start_frame", text='start')
+
+        row=layout.row()
+        row.operator('anim.adjust_animation_length', icon='MOD_TIME')
 
         ## Bake cycle (on selected)
-
-        ## Expand Cycle
-
-
-        # expand cycle
-        # layout.prop(context.scene.anim_cycle_settings, "expand_on_selected_boned")
+        row=layout.row()
+        row.operator('anim.bake_cycle_and_step', text='Bake key and step path', icon='SHAPEKEY_DATA')
+        row.prop(context.scene.anim_cycle_settings, "expand_on_selected_bones")
         
         # Pin feet
+        layout.operator('anim.pin_feets', text='Pin feets', icon='PINNED')
 
+        
+
+class UAC_PT_anim_tools_panel(bpy.types.Panel):
+    bl_space_type = "VIEW_3D"
+    bl_region_type = "UI"
+    bl_category = "Anim"
+    bl_label = "Unicorn Tools"
+
+    def draw(self, context):
+        layout = self.layout
+        layout.operator('anim.contact_to_ground', text='Ground selected feet', icon='SNAP_OFF')
 
 
 classes=(
 UAC_PT_walk_cycle_anim_panel,
+UAC_PT_anim_tools_panel,
 )
 
 def register():