This work deals with the problem of planning the movements of a two-hand system in order to grasp an object with one hand and using the other to remove potential obstacles. The approach is based on a Probabilistic Road Map that does not rule out samples with collisions with removable objects but instead classifies them according to the collided obstacle(s), and allows the search of free paths with the indication of which objects must be removed from the work-space to make the path be valid. The approach has been implemented and some examples are presented in this work.