Is there an e-commerce plugin/extension that allows you to interface with an ERP?

Is there an e-commerce plugin/extension that allows you to interface with an ERP?
The ERP's API is SOAP-based. I'd like to have live data (as far as products, inventory, and sales) communicated back and forth.
(ERP is .net based & called Aplicor).
They're supposed to have e-commerce features, but it's ugly & bad SEO. I'm hoping to find a way to build a site with technology I'm familiar with (WP & PHP).
THANKS!