diff --git a/CHANGELOG.md b/CHANGELOG.md
index b01e44d..b3c6492 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,9 @@
 # Changelog
 
+1.8.0
+
+- added: `wrap animation` tool. On selected pose bones on each location keyframe, apply offset from a reference bone to a root bone.
+
 1.7.0
 
 - added: `Custom Pinning` Possibility to pin selectively lobc/rot x/y/z components
diff --git a/OP_animate_path.py b/OP_animate_path.py
index 251a103..052061e 100644
--- a/OP_animate_path.py
+++ b/OP_animate_path.py
@@ -517,4 +517,4 @@ def register():
 
 def unregister():
     for cls in reversed(classes):
-        bpy.utils.unregister_class(cls)
\ No newline at end of file
+        bpy.utils.unregister_class(cls)
diff --git a/OP_wrap_anim.py b/OP_wrap_anim.py
new file mode 100644
index 0000000..4ddb5fb
--- /dev/null
+++ b/OP_wrap_anim.py
@@ -0,0 +1,398 @@
+## Wrap an expanded animation to an on place loop
+## Define a bone that will be offseted to stay fix above root
+
+import bpy
+import math
+from mathutils import Vector, Matrix, Euler
+
+def get_bone_transform_at_frame(b, act, frame):
+    '''Find every loc, rot, scale values at given frame'''
+    transform = {}
+    for channel in ('location', 'rotation_euler', 'scale'):
+        chan_list = []
+        for i in range(3):
+            f = act.fcurves.find(f'pose.bones["{b.name}"].{channel}', index=i)
+            if not f:
+                # print(frame, channel, 'not animated ! using current value') # Dbg
+                chan_list.append(getattr(b, channel)) # get current value since not animated
+                continue
+            chan_list.append(f.evaluate(frame))
+        
+        # print(frame, b.name, channel, chan_list) # Dbg
+        if channel == 'rotation_euler':
+            transform[channel] = Euler(chan_list)
+        else:
+            transform[channel] = Vector(chan_list)
+
+    return transform # loc, rot, scale
+
+def dopesheet_summary(obj_list=None):
+    if obj_list is None:
+        obj_list = bpy.context.selected_objects
+    elif isinstance(obj_list, bpy.types.Object):
+        obj_list = [obj_list]
+
+    start = bpy.context.scene.frame_start
+    end = bpy.context.scene.frame_end
+    frames = []
+
+    for obj in obj_list:
+        for fcurve in obj.animation_data.action.fcurves:
+            for keyframe_point in fcurve.keyframe_points:
+                x, y = keyframe_point.co
+                if x >= start and x <= end and x not in frames:
+                    frames.append(x)
+                    ## for returning an int (import math)
+                    #frames.append((math.ceil(x)))
+    return sorted(frames)
+
+def pose_bone_frame_summary(bone_list=None, filter_channel=None) -> list[int]:
+    '''Return frame numbers where bone(s) have keys
+    :bone_list: a single pose bone or a list of pose bone, if not porvided, context.selected_pose_bone
+    :filter_channel: str or tuple of str to filter channel (ex: 'location')
+    '''
+    if bone_list is None:
+        bone_list = bpy.context.selected_pose_bone
+    elif isinstance(bone_list, bpy.types.PoseBone):
+        bone_list = [bone_list]
+
+
+    start, end = bpy.context.scene.frame_start, bpy.context.scene.frame_end
+    frames = []
+    for bone in bone_list:
+        for fcurve in bone.id_data.animation_data.action.fcurves:
+            if not fcurve.data_path.startswith(f'pose.bones["{bone.name}"]'):
+                continue
+
+            if filter_channel:
+                if not fcurve.data_path.endswith(filter_channel):
+                    continue
+            # print('fcurve.data_path: ', fcurve.data_path)
+                    
+            for keyframe_point in fcurve.keyframe_points:
+                x, _y = keyframe_point.co
+                if x >= start and x <= end and x not in frames:
+                    frames.append(x)
+                    ## for returning an int (import math)
+                    #frames.append((math.ceil(x)))
+    return sorted(frames)
+
+def get_all_keyframe(use_only = True):
+    sum = set()
+    for action in D.actions:
+        if use_only and action.use_fake_user and action.users == 1:
+            #avoid saved (fake user) but unused actions
+            pass
+        elif use_only and action.users == 0:
+            #avoid 0 user actions
+            pass
+
+        else:
+            for fcurve in action.fcurves:
+                for key in fcurve.keyframe_points:
+                    sum.add(key.co[0])
+    return sum
+
+
+def get_keyframes(obj_list):
+    keyframes = []
+    for obj in obj_list:
+        anim = obj.animation_data
+        if anim is not None and anim.action is not None:
+            for fcu in anim.action.fcurves:
+                for keyframe in fcu.keyframe_points:
+                    x, y = keyframe.co
+                    if x not in keyframes:
+                        keyframes.append((math.ceil(x)))
+    return keyframes
+
+
+def scale_matrix_from_vector(scale):
+    '''recreate a neutral mat scale'''
+    matscale_x = Matrix.Scale(scale[0], 4,(1,0,0))
+    matscale_y = Matrix.Scale(scale[1], 4,(0,1,0))
+    matscale_z = Matrix.Scale(scale[2], 4,(0,0,1))
+    matscale = matscale_x @ matscale_y @ matscale_z
+    return matscale
+
+
+def has_key_at_frame(item, act=None, frame=None, channel='location', verbose=False):
+    '''Return True if pose bone has a key at passed frame'''
+
+    if frame is None:
+        frame = bpy.context.scene.frame_current
+    
+    if isinstance(item, bpy.types.Object):
+        ## Object
+        if act is None:
+            act = item.animation_data.action
+        data_path = channel
+    else:
+        ## Consider it's a Pose bone
+        if act is None:
+            act = item.id_data.animation_data.action
+        data_path = f'pose.bones["{item.name}"].{channel}'
+
+    for i in range(0,3):
+        f = act.fcurves.find(data_path, index=i)
+        if not f:
+            if verbose:
+                print(f'{item.name} has not {data_path}')
+            continue
+        
+        if f.is_empty:
+            if verbose:
+                print(f'fcurve has not keyframes: {f.data_path} {i}')
+            continue
+        
+        if not f.is_valid:
+            if verbose:
+                print(f'fcurve is invalid {f.data_path} {i}')
+            continue
+        
+        ## ? int frame ?
+        if next((k for k in f.keyframe_points if k.co.x == frame), None) is not None:
+            if verbose:
+                print(f'{item.name} {channel} is keyframed')
+            return True
+    return False
+
+"""
+def has_channel_key_at_frame(pb, act, frame, channel='location'):
+    '''Return Rrue if pose bone has a key at passed frame'''
+    for i in range(0,3):
+        f = act.fcurves.find(f'pose.bones["{pb.name}"].{channel}', index=i)
+        if not f:
+            continue
+        if f.is_empty:
+            print(f'fcurve has not keyframes: {f.data_path} {i}')
+            continue
+        if not f.is_valid:
+            print(f'fcurve is invalid {f.data_path} {i}')
+            continue
+        
+        ## ? int frame ?
+        if next((k for k in f.keyframe_points if k.co.x == frame), None) is not None:
+            return True
+    return False
+"""
+
+def assign_world_location_to_pose_bone(pb, newloc):
+    # mat = scn.cursor.matrix
+    
+    # get world space matrix
+    mat = pb.id_data.matrix_world @ pb.matrix
+    loc, rot, _scale = mat.decompose()
+
+    # compose
+    # loc_mat = Matrix.Translation(loc)
+    loc_mat = Matrix.Translation(newloc)
+    rot_mat = rot.to_matrix().to_4x4()
+    scale_mat = scale_matrix_from_vector(pb.scale)
+    new_mat = loc_mat @ rot_mat @ scale_mat
+
+    # assign
+    pb.matrix = pb.id_data.matrix_world.inverted() @ new_mat
+
+
+def sort_bones_by_hierarchy_depth(bones):
+    hierarchy_depth = {}
+    
+    def get_depth(bone):
+        if bone.parent is None:
+            return 0
+        if bone.name in hierarchy_depth:
+            return hierarchy_depth[bone.name]
+        else:
+            depth = get_depth(bone.parent) + 1
+            hierarchy_depth[bone.name] = depth
+            return depth
+    
+    for bone in bones:
+        get_depth(bone)
+    
+    # print('hierarchy_depth: ', hierarchy_depth) # Dbg
+    # Ex: hierarchy_depth -> {'world': 1, 'walk': 2, 'scale-all': 3, 'rotate-hip': 4, 'spine01': 5, 'spine02':6, 'foot.R': 1, 'foot.L': 1}
+    sorted_bones = sorted(bones, key=lambda b: hierarchy_depth[b.name])
+    return sorted_bones
+
+def wrap_animation(ref, root=None, verbose=False):
+    scn = bpy.context.scene
+    org_frame = scn.frame_current
+    
+    ob = bpy.context.object
+    ac = ob.animation_data.action
+
+    ## Auto set root with classic names
+    if not root:
+        root = ob.pose.bones.get('root')
+    if not root:
+        root = ob.pose.bones.get('world')
+    # if not root:
+    #     root = ob.pose.bones.get('walk')
+    
+    target_bones = bpy.context.selected_pose_bones
+
+    ## During the loop, move upper hiercharchy bones first
+    ## (Not 100% sure that's needed, as it's usually not targetting dependent bones)
+    target_bones = sort_bones_by_hierarchy_depth(target_bones)
+    
+    for i in range(len(target_bones))[::-1]:
+        ## Remove the root:
+        if target_bones[i] == root:
+            target_bones.pop(i)
+        
+        ## Always put the ref bone at the end:
+        if target_bones[i] == ref:
+            target_bones.append(target_bones.pop(i))
+    
+    print('Targeted bones', [b.name for b in target_bones]) #Dbg
+    
+    '''
+    ### Iterate in whole summary:
+    ### -> Frame -> Bones
+    frames = dopesheet_summary(ob)
+
+    ## remove duplicates
+    if verbose:
+        print('-Keyframes-')
+        print(frames)
+
+    ### Note: /!\ Still some weird error, work when select and place bones one by one !
+    ### Not optimized but need to iterate in bone first then frame for each...
+    for f in reversed(frames):
+        frame = int(f)
+        if not verbose:
+            print(f'{frame:04d}', end='\r')
+        scn.frame_set(frame)
+        
+        ## calc distance
+        ref_loc = (ref.id_data.matrix_world @ ref.matrix).translation.copy()    
+        ref_loc =  Vector((ref_loc.x, ref_loc.y, 0)) # Remove Z
+        
+        ## On a moving root, recalculate root_loc on each iteration
+        root_loc = (root.id_data.matrix_world @ root.matrix).translation.copy()
+        root_loc = Vector((root_loc.x, root_loc.y, 0)) # Remove Z
+        
+        # get reset_vector
+        reset_vec = root_loc - ref_loc
+        
+        for pb in sorted_selected_pose_bones:
+            # if not has_channel_key_at_frame(pb, ac, frame, channel='location'):
+            if not has_key_at_frame(pb, ac, frame, channel='location', verbose=verbose):
+                if verbose:
+                    print(f'{frame:03d}: {pb.name} no location keys')
+                continue
+
+            #### assign the matrix from world
+            ## bone world position
+            bone_world_loc = (pb.id_data.matrix_world @ pb.matrix).translation.copy()
+            new_pos = bone_world_loc + reset_vec
+            # scn.cursor.location = new_pos #Dbg
+            
+            assign_world_location_to_pose_bone(pb, new_pos)
+                        
+            ## create the keyframe
+            pb.keyframe_insert('location', frame=frame)
+    '''
+
+    ### Iterate in individual bone summary:
+    ### -> bone -> frames
+    
+    for pb in target_bones:
+        # Calculate single bone frame summary
+        frames = pose_bone_frame_summary(pb, filter_channel='location')
+        print(f'{pb.name} : {len(frames)} location frames')
+
+        for f in reversed(frames):
+            frame = int(f)
+            if not verbose:
+                print(f'{pb.name} : frame {frame:04d}', end='\r')
+            scn.frame_set(frame)
+
+            ## calc distance
+            ref_loc = (ref.id_data.matrix_world @ ref.matrix).translation.copy()    
+            ref_loc =  Vector((ref_loc.x, ref_loc.y, 0)) # Remove Z
+
+            ## On a moving root, recalculate root_loc on each iteration
+            root_loc = (root.id_data.matrix_world @ root.matrix).translation.copy()
+            root_loc = Vector((root_loc.x, root_loc.y, 0)) # Remove Z
+
+            # get reset_vector
+            reset_vec = root_loc - ref_loc
+
+            if not has_key_at_frame(pb, ac, frame, channel='location', verbose=verbose):
+                if verbose:
+                    print(f'{frame:03d}: {pb.name} no location keys')
+                continue
+
+            #### assign the matrix from world
+            ## bone world position
+            bone_world_loc = (pb.id_data.matrix_world @ pb.matrix).translation.copy()
+            new_pos = bone_world_loc + reset_vec
+
+            assign_world_location_to_pose_bone(pb, new_pos)
+
+            ## create the keyframe
+            pb.keyframe_insert('location', frame=frame)
+
+    if not verbose:
+        print()
+    scn.frame_current = org_frame
+
+
+class AW_OT_wrap_animation(bpy.types.Operator):
+    bl_idname = "autowalk.wrap_animation"
+    bl_label = "Wrap Animation"
+    bl_description = "Wrap the current animation on selected bones.\
+        \nApply Reference -> root offset to selected bones on each frames"
+    bl_options = {"REGISTER", "UNDO"}
+
+    @classmethod
+    def poll(cls, context):
+        return context.object and context.object.type == 'ARMATURE'
+
+    def execute(self, context):
+        ob = context.object
+
+        settings = context.scene.anim_cycle_settings
+        if not settings.wrap_ref_bone or not settings.wrap_root_bone:
+            self.report({'ERROR'}, 'Need to specify both reference and root bone fields')
+            return {"CANCELLED"}
+
+        if not ob.animation_data or not ob.animation_data.action:
+            self.report({'ERROR'}, f'No animation data on {ob.name}')
+            return {"CANCELLED"}
+        
+        ref = settings.wrap_ref_bone
+        root = settings.wrap_root_bone
+
+        ## as strings
+        ref = ob.pose.bones.get(ref)
+        root = ob.pose.bones.get(root)
+
+        if not ref:
+            self.report({'ERROR'}, f'Reference bone not found in object: {context.object.name}')
+            return {"CANCELLED"}
+        if not root:
+            self.report({'ERROR'}, f'Root bone not found in object: {context.object.name}')
+            return {"CANCELLED"}
+
+        wrap_animation(ref, root)
+        return {"FINISHED"}
+    
+classes=(
+AW_OT_wrap_animation,
+)
+
+def register():
+    # bpy.types.Object.pose_bone = bpy.props.PointerProperty(type=bpy.types.PoseBone)
+    
+    for cls in classes:
+        bpy.utils.register_class(cls)
+
+def unregister():
+    for cls in reversed(classes):
+        bpy.utils.unregister_class(cls)
+    
+    # del bpy.types.Object.pose_bone
\ No newline at end of file
diff --git a/__init__.py b/__init__.py
index a3e2cca..2b40e90 100644
--- a/__init__.py
+++ b/__init__.py
@@ -4,7 +4,7 @@ bl_info = {
     "name": "Auto Walk",
     "description": "Develop a walk/run cycles along a curve and pin feets",
     "author": "Samuel Bernou",
-    "version": (1, 7, 0),
+    "version": (1, 8, 0),
     "blender": (3, 0, 0),
     "location": "View3D",
     "warning": "",
@@ -22,6 +22,7 @@ if 'bpy' in locals():
     imp.reload(OP_expand_cycle_step)
     imp.reload(OP_snap_contact)
     imp.reload(OP_world_copy_paste)
+    imp.reload(OP_wrap_anim)
     imp.reload(OP_nla_tweak)
     imp.reload(panels)
 else:
@@ -34,6 +35,7 @@ else:
     from . import OP_expand_cycle_step
     from . import OP_snap_contact
     from . import OP_world_copy_paste
+    from . import OP_wrap_anim
     from . import OP_nla_tweak
     from . import panels
 
@@ -50,6 +52,7 @@ mods = (
     OP_expand_cycle_step,
     OP_snap_contact,
     OP_world_copy_paste,
+    OP_wrap_anim,
     OP_nla_tweak,
     panels,
 )
diff --git a/panels.py b/panels.py
index 7f776b3..8ef7c68 100644
--- a/panels.py
+++ b/panels.py
@@ -144,6 +144,60 @@ class AW_PT_walk_cycle_anim_panel(bpy.types.Panel):
                     col=box.column()
                     col.operator('autowalk.step_back_actions', text='Use Previous Actions', icon= 'ACTION')
 
+class AW_MT_wrap_animation_help(bpy.types.Menu):
+    # bl_idname = "OBJECT_MT_custom_menu"
+    bl_label = "Wrap Animation Infos"
+
+    def draw(self, context):
+        layout = self.layout
+        col = layout.column()
+        # col.label(text='Wrap animation:', icon='INFO')
+        col.label(text='Apply offset from ref bone to root bone')
+        col.label(text='on all selected pose bones')
+        
+        col.separator()
+        col.label(text='Example:')
+        col.label(text='Root is the bone to return to. Often root/walk/world bone')
+        col.label(text='In most cases, Ref bone will be the bottom spine bone')
+        col.label(text='Applying with spine selected will align spine with root on X-Y axis')
+
+        col.separator()
+        col.label(text='Note: If resulted animation is broken', icon='ERROR')
+        col.label(text='try applying with only one selected bone at a time')
+
+
+class AW_PT_wrap_animation_panel(bpy.types.Panel):
+    bl_space_type = "VIEW_3D"
+    bl_region_type = "UI"
+    bl_category = "Walk"
+    bl_label = "Wrap Anim"
+    bl_options = {'DEFAULT_CLOSED'}
+
+    def draw(self, context):
+        layout = self.layout
+        layout.use_property_split = True
+        col = layout.column()
+        if not context.object or context.object.type != 'ARMATURE':
+            col.label(text='Active object must be of Armature type')
+            return
+
+        settings = context.scene.anim_cycle_settings
+
+        ## As pose bone search picker
+        # col.prop_search(context.object, "pose_bone", context.object.pose, "bones")
+        # col.prop_search(settings, "wrap_root_bone", context.object.pose, "bones")
+        # col.prop_search(settings, "wrap_ref_bone", context.object.pose, "bones")
+
+        ## As strings
+        # col.label(text='offset selection from reference bone to Root')
+        row = col.row()
+        row.label(text='Enter bones names')
+        row.operator("wm.call_menu", text="", icon='QUESTION').name = "AW_MT_wrap_animation_help"
+
+        col.prop(settings, "wrap_root_bone", text='Root')
+        col.prop(settings, "wrap_ref_bone", text='Ref')
+        col.operator('autowalk.wrap_animation', text='Wrap Animation') # , icon=''
+
 class AW_PT_anim_tools_panel(bpy.types.Panel):
     bl_space_type = "VIEW_3D"
     bl_region_type = "UI"
@@ -187,16 +241,18 @@ class AW_PT_nla_tools_panel(bpy.types.Panel):
     def draw(self, context):
         layout = self.layout
         # layout.label(text='Retime Tools')
+        settings = context.scene.anim_cycle_settings
         row = layout.row(align=True)
         row.operator('autowalk.nla_key_speed', text='Set/Update Time Keys', icon='TIME')
         row.operator('autowalk.nla_remove_key_speed', text='', icon='X')
-        
 
 
 classes=(
 AW_PT_walk_cycle_anim_panel,
 AW_PT_anim_tools_panel,
 AW_PT_nla_tools_panel,
+AW_MT_wrap_animation_help,
+AW_PT_wrap_animation_panel,
 )
 
 classes_override_category =(
diff --git a/properties.py b/properties.py
index 91f32aa..f2c772f 100644
--- a/properties.py
+++ b/properties.py
@@ -76,6 +76,33 @@ class AW_PG_settings(bpy.types.PropertyGroup) :
     pin_rot_z : bpy.props.BoolProperty(
         name="Pin Rot Z", description="Pin bones rotation Z", default=True, options={'HIDDEN'})
 
+    ## Wrap properties
+
+    # wrap_ref_bone : bpy.props.PointerProperty(
+    #     name="Reference Bone",
+    #     type=bpy.types.PoseBone,
+    #     description="Reference bone to replace aligned with root bone"
+    #     )
+
+    # wrap_root_bone : bpy.props.PointerProperty(
+    #     name="Root Bone",
+    #     type=bpy.types.PoseBone,
+    #     description="Root bone, on each keyframe\
+    #         \nthe offset between ref bon eand root bone will be applied to selected pose bones"
+    #     )
+ 
+    wrap_ref_bone : bpy.props.StringProperty(
+        name="Reference Bone",
+        description="Reference bone to calculate offset towards Root bone"
+        )
+
+    wrap_root_bone : bpy.props.StringProperty(
+        name="Root Bone",
+        default="world", # should be root or walk
+        description="Root bone, on each keyframe\
+            \nthe offset between ref bon eand root bone will be applied to selected pose bones"
+        )
+
     """
     ## foot axis not needed (not always aligned with character direction)
     foot_axis : EnumProperty(