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Oracle offers APIs for both.
See sample code at http://www.confluentminds.com/Trainings/SCM/Topic2.4_Ch2_Part3.html
I need Warehouse Management related API's to process the internal sales order - Pick Confirm and Ship Confirm. Not the WSH API's it won't working if it is a WMS enabled.
For external orders we have a solution on WMS_DEVICE_CONFIRMATION_PUB api.
may be you have done pick release using this api in WMS enabled organizations. After pick release
you can use WSH api to do Ship Confirm.