I just tested with same versions and the command “xyz 0.32, 0.194, -0.026” works.
The z-axis limits are -0.15m / 0.65m. More details on this config file.
EDIT: I think you have this error working with a Niryo One V1 from an old order. In this case yes the limits for z-axis are 0.0m/0.60m. You can edit this config file directly on the robot to modify the global settings. (and don’t forget to restart the program on the robot after that)