Ask for the actual gripper, fingers, fittings and held blank against the measured door arrangement through approach, pickup, withdrawal and receiving release. Keep setter and maintenance access in that model before the stand position is chosen.
We had a clear loaded path and a clash on the empty return. Ask for the open fingers after release too, Rosa. The part being gone does not necessarily make the tool smaller.
Have the integrator identify alternatives using that complete assembly and door arrangement. A changed return route might help, but it still needs the full motion and the ordinary machine tasks checked.