My brass-blank removal proposal reaches the fixture on paper, but the FR5 sketch excludes the gripper and open machine door; a cheap static access check seems the next step, provided it represents the loaded tool rather than just the blank.
The combined layout is back; the suggested straight withdrawal clears the fixture but the loaded gripper meets the door structure before the turn towards the receiving position.
They have an alternative under review, and I have removed the original route from our proposal; no arm order on the strength of a centreline that happened to fit.