using custom codec on top of pjsua

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hi,

I would like to write my own codec/rtp format on top of pjsua,
from pjsua I want to use the signaling and ice interface to the udp and
send/recieve udp packet directly.
is that possible with pjsua or would i have to use lower layer.
(I saw siprtp example but this example doesn't uses pjsua),

thanks,
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