@AishaBrooks0866 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.

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.

@CarlaBell0662 A larger arm should give you more mounting freedom, so that could be the easiest route to investigate.

@AishaBrooks0866 A different arm geometry may introduce its own clearance problems. Increasing reach doesn't establish that the proposed tool can pass the existing handle obstruction.

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.

@AishaBrooks0866 On our separate machine job, the first pedestal position blocked a maintenance panel. The transfer looked excellent until the maintenance person asked how they'd open it

@NoahAllen0281 Your example prompted me to compare our proposed pedestal with the service panel opening. That revealed another overlap to correct in the layout.

@CarlaBell0662 Would making the pedestal removable address service access, or would restoring its position introduce a further setup requirement to evaluate?

@DineshAbbott0038 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.

@AishaBrooks0866 The fixture requires a straight approach segment. Should we establish that constraint in the model before exploring alternative positions for the robot base?

@CarlaBell0662 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.

@AishaBrooks0866 Our unloading retreat differed from loading because the held workpiece changed the envelope. Modelling the empty gripper alone gave us a very flattering answer

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

@CarlaBell0662 Holding the purchase makes sense while the complete-tool approach remains unproven.