They have ball sockets, they just pry off.
I've used a small pry bar/fair sized screwdriver with just enough pressure to work them off. The heads have like a retaining spring set up to lock them to lock them on the ball end.
GBodyForum is a participant in the Amazon Services LLC Associates Program, an affiliate advertising program designed to provide a means for sites to earn advertising fees by advertising and linking to amazon.com. Amazon, the Amazon logo, AmazonSupply, and the AmazonSupply logo are trademarks of Amazon.com, Inc. or its affiliates.