Is it possible to control a 5 DOF manipulator (robot arm) in Rviz ?

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Initially if you see my robot in real world has joints as TRRTR (T being twisting and R being revolute. T joint is considered to have 2 DOF and R joint is considered to have 1 DOF)

But the situation in ROS is that it considers everything as revolute therefore it has only 5 DOF and we cannot plan the motion of the robotic arm in Rviz cause it's an under actuated robotic arm.

Is there any way I can solve this problem?

Ubuntu: 16.04 ROS: KINETIC KAME