{"action":"opened","issue":{"url":"https://api.github.com/repos/golems/amino/issues/5","repository_url":"https://api.github.com/repos/golems/amino","labels_url":"https://api.github.com/repos/golems/amino/issues/5/labels{/name}","comments_url":"https://api.github.com/repos/golems/amino/issues/5/comments","events_url":"https://api.github.com/repos/golems/amino/issues/5/events","html_url":"https://github.com/golems/amino/issues/5","id":160333301,"number":5,"title":"Use OMPL Goal Sampler for Workspace","user":{"login":"ndantam","id":527876,"avatar_url":"https://avatars.githubusercontent.com/u/527876?v=3","gravatar_id":"","url":"https://api.github.com/users/ndantam","html_url":"https://github.com/ndantam","followers_url":"https://api.github.com/users/ndantam/followers","following_url":"https://api.github.com/users/ndantam/following{/other_user}","gists_url":"https://api.github.com/users/ndantam/gists{/gist_id}","starred_url":"https://api.github.com/users/ndantam/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ndantam/subscriptions","organizations_url":"https://api.github.com/users/ndantam/orgs","repos_url":"https://api.github.com/users/ndantam/repos","events_url":"https://api.github.com/users/ndantam/events{/privacy}","received_events_url":"https://api.github.com/users/ndantam/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2016-06-15T03:54:21Z","updated_at":"2016-06-15T03:54:21Z","closed_at":null,"body":"Currently, workspace motion planning goals use a single jointspace IK solution.  We should instead use an OMPL goal sampler to allow multiple jointspace solutions."}}
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