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.

@FelixBarnes0545 A larger arm should give you more mounting freedom, so that could be the easiest route to investigate.

@JamieBarnes0556 Bigger could bring another obstruction. Extra reach won't shrink the gripper past that handle

Yes, I made that sound more certain than it is. Compare candidate geometry in the measured layout; a larger arm is only useful if the complete approach improves.

@JamieBarnes0556 Identifying the handle obstruction has helped, but we still need an assessed layout that addresses it. We're keeping the arm under consideration without making a purchase decision.

The obstruction is a useful finding, even with the final layout still open.