Yes, the hub is identical
Same 5x100 PCD and same 54.1 mm centre bore: wheels from Toyota Yaris IV bolt on and centre on Toyota Urban Cruiser without rings. You still need to check the offset and tyres, detailed below.
≈: width estimated from the original tyre size.
Wheel by wheel: offset and tyres
Each original wheel from Toyota Yaris IV is compared with the one from Toyota Urban Cruiser of the same diameter: how much closer the wheel gets to the shock absorber or how far it sticks out of the wheel arch, and whether the tyre keeps the same overall diameter.
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6Jx16 ET50 · 195/55R16 — Risk of rubbing
Compared with the original 6Jx16 ET39 on Toyota Urban Cruiser: shock absorber side +11 mm, wheel arch side −11 mm, tyre diameter −3 % : fit it with the original tyre size of Toyota Urban Cruiser (195/60R16), not that of Toyota Yaris IV.
Check in detail
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6Jx15 ET45 · 185/65R15
Toyota Urban Cruiser has no 15-inch original wheel in our data: check the approved fitments and caliper clearance.
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6.5Jx17 ET50 · 205/45R17
Toyota Urban Cruiser has no 17-inch original wheel in our data: check the approved fitments and caliper clearance.
Before fitting the wheels
An identical hub is not enough: offset, width and diameter change the position of the wheel, and larger calipers can touch a smaller wheel. Original wheels often use bolts or nuts with a specific seat: keep the fixings intended for the wheel, with the thread of Toyota Urban Cruiser (Ecrous - 12x1.50), tightened to the torque shown on its vehicle page. Finally, check that the size is among the approved fitments for your vehicle. This comparison is for guidance only: have the fitting approved by a professional.
And the other way round: wheels from Toyota Urban Cruiser on Toyota Yaris IV?