After comparing the outlines, I found that the proposed approach overlaps the door handle even though the workpiece itself clears. That explains the misleadingly comfortable result in my initial sketch.

Use that measured layout to review the complete approach and retreat offline. Include the tool, cables and service access, then ask the integrator to assess a revised mounting arrangement.

@HenryBennett0699 The buyer has suggested choosing a larger arm. I'm unsure whether that would address the access issue or simply increase our purchase while leaving the obstruction unresolved.

A larger arm should give you more mounting freedom, so that could be the easiest route to investigate.

Bigger could bring another obstruction. Extra reach won't shrink the gripper past that handle.

@JonasAdams0111 Yes, I made that sound more certain than it's. Compare candidate geometry in the measured layout; a larger arm is only useful if the complete approach improves.

@HenryBennett0699 We had a different machine application where a good transfer layout put the pedestal across a service panel. Maintenance spotted the catch immediately.

Checked ours. The suggested pedestal overlaps a panel opening too. More red pen for the drawing.

Would making the pedestal removable address service access, or would restoring its position introduce a further setup requirement to evaluate?

@BrunoAli0191 Restoring location and checking the installation would become part of that proposal. Ask the integrator to compare it with a layout that preserves routine service access.

The fixture requires a straight approach segment. Should we establish that constraint in the model before exploring alternative positions for the robot base?

Yes. Include the required entry direction and withdrawal conditions, not just an end pose. A reachable point can still have no usable approach with the proposed tool.

@HenryBennett0699 I still can't establish a usable approach for the complete tool. Purchase is on hold until access is settled.

Holding the purchase makes sense while the complete-tool approach remains unproven.