Hi Artemii,
I struggled myself on this one a few years ago. It’s actually not a motion planning issue !
If I remember well, the UR5 joints can each rotate from -2pi to 2pi, so there is several joint solution to reach the same position.
The problem you have here is that the IK solver does not give you the closest solution to your current joint position. To solve that issue I recommend using trac_ik with the option solve_type: Distance
You can see an example here : https://github.com/kuka-isir/rtt_lwr/blob/rtt_lwr-2.0/lwr_moveit_config/config/kinematics.yaml
Cheers,
Jimmy Da Silva