Currently, the UR10 is used to pick up and drop off semiconductor wafers in chemical baths. As it is dropping off, the wafer has to face a certain direction depending on the location of the bath. It doesn't need to be super precise, so I was wondering if there was a way to offset the move's wrist 3 by 180 degrees before it is performed? Or do I have to individually teach each bath twice (one with wrist 3 at 'x' degrees and one with wrist 3 at 'x +- 180 degrees). Thank you.