Our FR10 sketch reaches the polymer blank in the fixture but omits the gripper body and open door, so I have asked the integrator for the held assembly through the whole removal route before we choose a position; the setter also needs to judge access to the fixture.
Generic so far, Gabriel, and the owner has agreed to survey it; I am keeping that separate from the toolmaker's assembly drawing because neither supplier can fill the other gap by assumption.
Put both into one model when available. Include the adapter and connections, not only the jaw tips. Otherwise the blank clears while a fitting quietly occupies the handle.
The assembly drawing includes the fittings now, David, with the held blank shown at the proposed grip depth, but the actual open-door survey is still outstanding so no route has been accepted.