Does Decartes still need MoveitStateAdapters?

[hsd-dev]

I am using Godel to replace ABB arm with Denso vs087. I am trying to generate IKFast plugin for this robot, but it fails rdiankov/openrave#568. I am successfully generated the plugin for IRB2400 and vs060, so I guess I have installed openRAVE correctly.

Till I solve the IKFast issue, is it still necessary to use MoveitStateAdapters? Here it says that MoveIt's IK plugin class may be sufficient. Is that the case? If so, how do I point Descartes to this plugin?