The joint limits of the robots seem to be incorrect in the Studio > Control > Joint Position panel.
It is sometimes possible to manually input / use the slider to define a value outside of the actual robot's joint limits (for instance: -2.9671 for the Panda's joint1 when the lower limit is supposed to be -2.8973) and sometimes impossible to input a value that should be in range because the slider's limit is too restrictive (for instance: UR5's joint6 blocked at -3.141593 when the actual limit is -6.2832).