Wordpress : Remove "sub-menu" class in UL - wordpress

I am trying to convert HTML to Wordpress and I am having troubles with menus.
The menu is a 3 level drop-down menu, I am outputting it with wp_nav_menu and this is how it formats.
<ul id="nav" class="sf-menu">
<li>Home</li>
<li>Blog</li>
<ul class="sub-menu">
<li>Level 2</li>
<ul class="sub-menu">
<li>Level 3</li>
</ul>
</ul>
<li>Portfolio</li>
<li>Contacts</li>
</ul>
Basically I want to remove the "sub-menu" class from the /s in the 2nd level and 3rd level.
This is how I want it to be:
<ul id="nav" class="sf-menu">
<li>Home</li>
<li>Blog</li>
<ul>
<li>Level 2</li>
<ul>
<li>Level 3</li>
</ul>
</ul>
<li>Portfolio</li>
<li>Contacts</li>
</ul>
Is this possible to do with a custom walker class?

There is a wordpress 'setting' fkr that:
As you can see:Function Reference/wp nav menu
you can remove the ul by writing this when you call the wp_nav_menu:
<?php wp_nav_menu( array( 'items_wrap' => '%3$s' ) ); ?>
this should work. you also have some other Parameters for the nav menu: it's id, container_class and more.

you can use below code :
$(function() {
$('.sf-menu ul').removeClass('sub-menu');
});

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I came across this guide recently and found it helpful.
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The line of code I wish to target so that I can modify it in CSS is:
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The page-item-8 class is dynamically generated so I can't rely on it.
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At your Appearance > Menus, you can click Screen Options and click CSS Classes to add specific class for a specific menu item.
Click here for full image view

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