The German integrator Kröning Automation has created a very nice application for packaging. The robot is supplied with a CiRo unit from RSP. This great product minimizes hose package interference and provides a longer lifetime for the cables and hoses needed for the process. CiRo is a patented solution from RSP which is giving any robot similar features to hollow-wrist-robots.
Check out CiRo: https://robotsystemproducts.com/pl/product-category/ciro/
Check out Kröning Automation: https://www.kroening-dohna.de/