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Robots' interaction with humans raises new issues for geometrical reasoning where the humans must be taken explicitly into account. We claim that a human-aware motion system must not only elaborate safe robot motions, but also synthesize good, socially acceptable and legible movement. This paper focuses on a manipulation planner and a placement mechanism that take explicitly into account its human partners by reasoning about their accessibility, their vision field and their preferences. This planner is part of a human-aware motion and manipulation planning and control system that we aim to develop in order to achieve motion and manipulation tasks in presence or in synergy with humans.