I've put the machine door back into our FR10 removal sketch and the route still looks possible. But the tool is only a pickup point, so possible is doing a lot of work here. What would you ask for to check the withdrawal of a finished cylindrical blank?
Ask for the actual gripper assembly in its loaded state through the withdrawal, then its open state wherever release or an empty return matters. Include the door, fixture and proposed base position. One view at pickup can hide a collision later in the route. The drawing also needs enough detail to see what is still assumed.
The integrator added the proposed tool body and found it meets the door edge on the straight withdrawal. They're comparing a revised base position with a different tool arrangement. We haven't chosen either; at least the old sketch is no longer being used to justify the arm choice.