Groups in wordpress, and conditional menu

Hi,
I’m trying to have advanced option while managing user, but I’ve found nothing perfect yet, so would you know the perfect extension (or list of extension) I should use to acheive all of this ?

What I want is :
1) There are different types of users. Each type have access to some pages, but not to others
2) There are some users( or groups, or roles) who can modify the pages I have decided they could modify. Ideally, a front-end editor would be perfect, in order them to don’t have to see the wordpress admin panel
3) In the menu, a user can only see the pages he have access to

I have managed to do the two firsts, using User Role Editor first. But then I changed to Role Scoper, which allow me to manage groups permission and assign users to groups, it’s almost perfect (but no more updated, and the new version, press permit core, is not free).
But the major problem is groups don’t seems to be used by any other extension or wordpress functionality. For example : the widget visibility condition doesn’t allow me to discriminate visibility on group-based condition… In fact, I had never seen the word “group” before installing Role Scoper…

And I have not a single clue on how I could do the 3). I can’t put any condition on the menu display…
Any idea on how I could do that ?

Thanks