diff --git a/include/hpp/manipulation/problem-solver.hh b/include/hpp/manipulation/problem-solver.hh
index 91c0fcd155d9ff166b6211c03df0c0001e87f784..98d3669e084c4714c37e16cc5a8c290b65d3a430 100644
--- a/include/hpp/manipulation/problem-solver.hh
+++ b/include/hpp/manipulation/problem-solver.hh
@@ -96,13 +96,26 @@ namespace hpp {
 	/// \param name name of the placement constraint,
 	/// \param triangleName name of the first list of triangles,
 	/// \param envContactName name of the second list of triangles.
-        /// \param margin see hpp::constraints::QPStaticStability constructor
+        /// \param margin see hpp::constraints::ConvexShapeContact::setNormalMargin
 	/// 
 	void createPlacementConstraint (const std::string& name,
 					const std::string& surface1,
 					const std::string& surface2,
                                         const value_type& margin = 1e-4);
 
+	/// Create pre-placement constraint
+	/// \param name name of the placement constraint,
+	/// \param triangleName name of the first list of triangles,
+	/// \param envContactName name of the second list of triangles.
+	/// \param width approaching distance.
+        /// \param margin see hpp::constraints::ConvexShapeContact::setNormalMargin
+	/// 
+	void createPrePlacementConstraint (const std::string& name,
+				           const std::string& surface1,
+				           const std::string& surface2,
+                                           const value_type& width,
+                                           const value_type& margin = 1e-4);
+
         /// Reset constraint set and put back the disable collisions
         /// between gripper and handle
         virtual void resetConstraints ();
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index 6700497b2afa6d581f0e677961505464031f8a69..53c439cb3e14de964f723c429fcba666ce0e45df 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -32,6 +32,7 @@
 #include <hpp/core/path-optimization/partial-shortcut.hh>
 #include <hpp/core/roadmap.hh>
 #include <hpp/core/steering-method-straight.hh>
+#include <hpp/core/comparison-type.hh>
 
 #include "hpp/manipulation/problem.hh"
 #include "hpp/manipulation/device.hh"
@@ -189,6 +190,44 @@ namespace hpp {
 			      (constraints.second, core::Equality::create ()));
     }
 
+    void ProblemSolver::createPrePlacementConstraint
+    (const std::string& name, const std::string& surface1,
+     const std::string& surface2, const value_type& width,
+     const value_type& margin)
+    {
+      if (!robot_) throw std::runtime_error ("No robot loaded");
+      using constraints::ConvexShape;
+      using constraints::ConvexShapeContact;
+      using constraints::ConvexShapeContactPtr_t;
+
+      ConvexShapeContactPtr_t cvxShape = ConvexShapeContact::create (name, robot_);
+
+      if (!robot_->has <JointAndShapes_t> (surface1))
+        throw std::runtime_error ("First list of triangles not found.");
+      JointAndShapes_t l = robot_->get <JointAndShapes_t> (surface1);
+
+      for (JointAndShapes_t::const_iterator it = l.begin ();
+	   it != l.end(); ++it) {
+	cvxShape->addObject (ConvexShape (it->second, it->first));
+      }
+
+      // Search first robot triangles
+      if (robot_->has <JointAndShapes_t> (surface2))
+        l = robot_->get <JointAndShapes_t> (surface2);
+	// and then environment triangles.
+      else if (has <JointAndShapes_t> (surface2))
+	l = get <JointAndShapes_t> (surface2);
+      else throw std::runtime_error ("Second list of triangles not found.");
+
+      for (JointAndShapes_t::const_iterator it = l.begin ();
+	   it != l.end(); ++it) {
+	cvxShape->addFloor (ConvexShape (it->second, it->first));
+      }
+
+      cvxShape->setNormalMargin (margin + width);
+
+      addNumericalConstraint (name, NumericalConstraint::create (cvxShape));
+    }
 
     void ProblemSolver::resetConstraints ()
     {