diff --git a/include/hpp/manipulation/problem-solver.hh b/include/hpp/manipulation/problem-solver.hh
index 406fc5c565e6b9a5c20e0022cff2b2944559919d..ee1fda93626722fb4c7f73bb7779b6d36dd0af53 100644
--- a/include/hpp/manipulation/problem-solver.hh
+++ b/include/hpp/manipulation/problem-solver.hh
@@ -31,10 +31,12 @@ namespace hpp {
   namespace manipulation {
     class HPP_MANIPULATION_DLLAPI ProblemSolver :
       public core::ProblemSolver,
-      public core::Container <LockedJointPtr_t>,
-      public core::Container <JointAndShapes_t>
+      public core::Containers <
+        boost::mpl::vector <LockedJointPtr_t, JointAndShapes_t> >
     {
       public:
+        typedef core::Containers < boost::mpl::vector
+          <LockedJointPtr_t, JointAndShapes_t> > ThisC_t;
         typedef core::ProblemSolver parent_t;
         typedef std::vector <std::string> Names_t;
 
@@ -142,41 +144,6 @@ namespace hpp {
           return problem_;
         }
 
-        /// Get an element of a container
-        template <typename Element>
-          const Element& get (const std::string& name) const
-        {
-          return Container <Element>::get (name);
-        }
-
-        /// Check if a Container has a key.
-        template <typename Element>
-          bool has (const std::string& name) const
-        {
-          return core::Container <Element>::has (name);
-        }
-
-        /// Add an element to a container
-        template <typename Element>
-          void add (const std::string& name, const Element& element)
-        {
-          Container <Element>::add (name, element);
-        }
-
-        /// Get the underlying map of a container
-        template <typename Element>
-          const typename core::Container<Element>::ElementMap_t& getAll () const
-        {
-          return Container <Element>::getAll ();
-        }
-
-        /// Get the keys of a container
-        template <typename Element, typename ReturnType>
-          ReturnType getKeys () const
-        {
-          return Container <Element>::template getKeys <ReturnType> ();
-        }
-
       protected:
         virtual void initializeProblem (ProblemPtr_t problem);
 
diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index 9938530b8d9b046af992eb7a7b98b19beb1269de..5fd2e5d6bb3886e57e5d5467f1b4f1bc67766788 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -30,6 +30,7 @@
 #include <hpp/manipulation/graph/node.hh>
 #include <hpp/manipulation/graph/edge.hh>
 #include <hpp/manipulation/graph/node-selector.hh>
+#include <hpp/manipulation/graph/guided-node-selector.hh>
 #include <hpp/manipulation/problem-solver.hh>
 
 namespace hpp {
@@ -864,12 +865,12 @@ namespace hpp {
               ps->createPlacementConstraint (placeN,
                   od.shapes, envNames, margin);
               objects[i].get<0> ().get<0> () =
-                ps->get <NumericalConstraintPtr_t> (placeN);
+                ps->core::ProblemSolver::get <NumericalConstraintPtr_t> (placeN);
               if (prePlace) {
                 ps->createPrePlacementConstraint ("pre" + placeN,
                     od.shapes, envNames, margin, prePlaceWidth);
                 objects[i].get<0> ().get<1> () =
-                  ps->get <NumericalConstraintPtr_t> ("pre" + placeN);
+                  ps->core::ProblemSolver::get <NumericalConstraintPtr_t> ("pre" + placeN);
               }
             }
             // Create object lock
@@ -879,7 +880,7 @@ namespace hpp {
               LockedJointPtr_t lj = core::LockedJoint::create (oj,
                   robot.currentConfiguration()
                   .segment (oj->rankInConfiguration (), oj->configSize ()));
-              ps->add <LockedJointPtr_t> ("lock_" + oj->name (), lj);
+              ps->ProblemSolver::ThisC_t::add <LockedJointPtr_t> ("lock_" + oj->name (), lj);
               objects[i].get<0> ().get<2> ().push_back (lj);
             }
             ++i;
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index 621c187cc035bc2dd4f439bc06f9ffe5670d26e5..8f590ae90fba4293eb4cfd90d0f7f9de5ba31e3a 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -73,30 +73,31 @@ namespace hpp {
     ProblemSolver::ProblemSolver () :
       core::ProblemSolver (), robot_ (), problem_ (0x0), graspsMap_()
     {
-      add <core::PathPlannerBuilder_t> ("M-RRT", ManipulationPlanner::create);
+      parent_t::add<core::PathPlannerBuilder_t>
+        ("M-RRT", ManipulationPlanner::create);
       using core::PathValidationBuilder_t;
-      add <PathValidationBuilder_t> ("Graph-Discretized",
+      parent_t::add <PathValidationBuilder_t> ("Graph-Discretized",
           GraphPathValidation::create <core::DiscretizedCollisionChecking>);
-      add <PathValidationBuilder_t> ("Graph-Progressive",
+      parent_t::add <PathValidationBuilder_t> ("Graph-Progressive",
           GraphPathValidation::create <
           core::continuousCollisionChecking::Progressive >);
       using core::PathOptimizerBuilder_t;
-      add <PathOptimizerBuilder_t> ("Graph-RandomShortcut",
+      parent_t::add <PathOptimizerBuilder_t> ("Graph-RandomShortcut",
           GraphOptimizer::create <core::RandomShortcut>);
-      add <PathOptimizerBuilder_t> ("PartialShortcut", core::pathOptimization::
+      parent_t::add <PathOptimizerBuilder_t> ("PartialShortcut", core::pathOptimization::
           PartialShortcut::createWithTraits <PartialShortcutTraits>);
-      add <PathOptimizerBuilder_t> ("Graph-PartialShortcut",
+      parent_t::add <PathOptimizerBuilder_t> ("Graph-PartialShortcut",
           GraphOptimizer::create <core::pathOptimization::PartialShortcut>);
-      add <PathOptimizerBuilder_t> ("ConfigOptimization",
+      parent_t::add <PathOptimizerBuilder_t> ("ConfigOptimization",
           core::pathOptimization::ConfigOptimization::createWithTraits
           <pathOptimization::ConfigOptimizationTraits>);
-      add <PathOptimizerBuilder_t> ("Graph-ConfigOptimization",
+      parent_t::add <PathOptimizerBuilder_t> ("Graph-ConfigOptimization",
           GraphOptimizer::create <
           GraphConfigOptimizationTraits
             <pathOptimization::ConfigOptimizationTraits>
             >);
       using core::SteeringMethodBuilder_t;
-      add <SteeringMethodBuilder_t> ("Graph-SteeringMethodStraight",
+      parent_t::add <SteeringMethodBuilder_t> ("Graph-SteeringMethodStraight",
           GraphSteeringMethod::create <core::SteeringMethodStraight>);
 
       pathPlannerType ("M-RRT");
@@ -181,8 +182,8 @@ namespace hpp {
         if (robot_->has <JointAndShapes_t> (*it2))
           l = robot_->get <JointAndShapes_t> (*it2);
         // and then environment triangles.
-        else if (has <JointAndShapes_t> (*it2))
-          l = get <JointAndShapes_t> (*it2);
+        else if (ThisC_t::has <JointAndShapes_t> (*it2))
+          l = ThisC_t::get <JointAndShapes_t> (*it2);
         else throw std::runtime_error ("Second list of triangles not found.");
         for (JointAndShapes_t::const_iterator it = l.begin ();
             it != l.end(); ++it) {
@@ -229,8 +230,8 @@ namespace hpp {
         if (robot_->has <JointAndShapes_t> (*it2))
           l = robot_->get <JointAndShapes_t> (*it2);
         // and then environment triangles.
-        else if (has <JointAndShapes_t> (*it2))
-          l = get <JointAndShapes_t> (*it2);
+        else if (ThisC_t::has <JointAndShapes_t> (*it2))
+          l = ThisC_t::get <JointAndShapes_t> (*it2);
         else throw std::runtime_error ("Second list of triangles not found.");
 
         for (JointAndShapes_t::const_iterator it = l.begin ();