Our FR5 pickup pose includes the cylindrical blank now, but the proposed turn begins beside the mill-door handle and the gripper body is absent; the pose alone isn't enough for our choice.
Has anyone established how far the held blank must withdraw before turning? I would get that into the complete-tool assessment against the measured door, rather than add the gripper to the same unexplained turn.
Then the handle needs its actual position and extent, not just a symbol on the sketch. Ask the machine owner to verify that while the tool supplier provides the full assembly.
The original route conflicts with the handle; an alternative approach is proposed but not assessed yet, so we have rejected the first route without choosing the second.
Keep the setter's fixture-change access in the alternative assessment too. A different approach may solve the handle problem and occupy somewhere else the workshop needs.