Most industrial robots use ac servo motors, not dc. Odrive has step/dir interface so they're a drop in from the controller side, uart or can would be nice tough.
Then you need to modify the robot for the new bldc motors and add more reduction since the motors are high-speed, low torque. You can only really update joints 2, 3 and 5, joint 4 likely needs more space and joint 6 and 1 are a little unnecessary.