In the FAQ #17264 title “Actual center of mass for robot” the given Denavit–Hartenberg parameters for UR5 is :
d = [0.089459, 0, 0, 0.10915, 0.09465, 0.0823]
but in the urcontrol.conf file of the offline simulator 3.3.2 the same param is
d = [0.089159, 0, 0, 0.10915, 0.09465, 0.02823]
I think there is an error in the FAQ