I want to make use of the strength of Openrave to get the analytic solutions for our 5dof manipulator. I know in orrosplanning package, ik_openrave.py provide a service /GetPositionIK. But I want a IK plugin to be loaded by ompl_ros_interface for motion planning. I just wonder how could I configure the Openrave IK module into a plugin? I heard that openrave could generate a C++ file as the inverse kinematics for the given manipulator, is it possible to use it to build a plugin. What would be the best way to do it and how to do it? Thanks.