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Excellent question. 5D IK support is new, so thanks for warning us about it. Just added it (jsk-ros-pkg r1300)

First, you should use the orrosplanning/IK service which gives you the ability to select the ik type. The GetPositionIK service is just there for compatibility reasons with the commonly used ROS manipulation. messages.

The orrosplanning/test/testarmik.py will show you how to call the IK service.