Abstract-- Current motion planning approaches rely on binary collision checking to evaluate the validity of a state and thereby dictate where the robot is allowed to move. This approach leaves little room for robots to engage in contact with an object, as is often necessary when operating in densely cluttered spaces. This allows a safety constraint of collision-free paths, as it ensures minimal robot to consider paths that would be discarded by traditional physical interaction with the environment that could lead to motion planning techniques while increasing success rate robot error states or damage. However, this principle is oftentimes and enabling the robot to explore the environment through too limiting, as environmental constraints (e.g. More specifically, in this paper we introduce a motion narrow field of view, sensor inaccuracies), and operational planner, Contact Admissible Transition-based Rapidly exploring constraints (e.g. As a result, a robot manipulator will robot through states of admissible contact, which we define likely fail to reach into a cluttered space due to the minimal as contact necessary to reach the goal configuration.