That’s actually where calisthenics evolved from, do you remember those first videos from Hannibal? Yes, they were filmed in the park, not in the gym.
The shoulder is the lynchpin of our body and well the most mobile joint that we have. Many moves we do with our body, we aren’t naturally supposed to do, those moves include handstand, heavy presses overhead etc.
Now, the question that arises is how do I train for those skills? At first, a well-rounded training is needed.
Getting skilled with Calisthenics is way harder than just lifting weight, especially if you are big and long. Skills like the front lever or the planche will be tougher, but it’s absolutely no reason not training for it, you will even get stronger than the smaller guys due to the leverage.