Hello, how are you doing? I'll be happy to assist you.
Do you have a sketch of the setup? OSHA requires a system that does not have a maximum fall arrest force built into the harnessing system to be designed for a 5000 pound fall arrest force. The size beam that you listed will not be close to working for that OSHA required load over a 20' span.
I can size the beam only, is that reasonable?
If you need the connection to the existing structure engineered and detailed, I can do that as an additional service.
I can check the pipe only for those support conditions. Is that reasonable: you still need to have the rods and connections checked.