Door parks beside the opening but leaves its pull handle sticking across the corner. I'd left that off my own sketch too. Easy thing to overlook.

Add the handle, tool adapter and held blank; you're checking an assembly moving through an opening, not a centre point arriving at a fixture.

We've got the toolmaker's open-jaw drawing already. Would a full-size paper profile against the isolated machine be a useful first check?

Useful to expose an obvious clash, provided nobody treats a flat profile as proof of the robot's complete access.

Check which plane that profile represents, because the handle could clear the fingers and catch the wrist behind them. Paper has unusually cooperative elbows.

Yes, more than one section if needed; the follow-on review needs the full three-dimensional tool and arm movement.

Entering open, then closing inside. I'd only considered the return journey with a held part. I'll put both states on the review sheet, thanks.

Give that sheet to whoever has to replace the tool later as well, since a different adapter could invalidate the clearance without changing a single taught point.

Keep the accepted assembly revision with the eventual path review; at this stage you've identified what must be checked, not established that the FR5 fits.

Yes, with the step, tool state and assembly revision identified; keep the assessed motion between those views in the review too, or the pictures become another set of isolated poses.

Before buying hardware, I would cut a simple jaw envelope from card or thin sheet and put it in the door opening with the proposed adapter. It will not approve a path, but it may expose the obvious faff while changes are still cheap.