I'm reviewing a UR5e layer pattern. Rotated product boxes bridge gaps against their preferred support direction. Can packaging and gripper access be checked together?
They should be. Give the tool designer the packaging constraints on the same drawing as the layer sequence, then have both reviewers identify the positions they cannot accept. Otherwise each can approve a different arrangement without noticing.
The common view should show finger opening too. We keep discussing where the box ends up and leaving the tool trapped in the drawing. Not literally trapped yet, but certainly not shown getting out.