Universal Robots ur3 - Joint Spare Part Adaptation

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3.1.18 Joint spare part adaptation
The UR3 constructed of 3 joint sizes and have to be setup on the robot:
Recommended spare joints for UR3 are marked with:
Robot: UR3
Wrist 3: ID =5 Size 0
Alignment mark
Wrist 2: ID =4 Size 0
Wrist 1: ID =3 Size 0
Elbow: ID =2 Size 1
Shoulder: ID =1 Size 2
Base: ID =0 Size 2
To use a wrist 3 joint as wrist 1 or wrist 2 it is
necessary to modify the joint.
See 3.1.19 Modify wrist 3 to Wrist 1 or wrist2