Do not require PDDLStream for tests, switch to main repo

setup/setup_pddlstream.bash

@@ -11,9 +11,8 @@ then
 fi
 
 # Clone and build PDDLStream
-# TODO: Once PDDLStream works with Python 3.10, go back to the original repo.
 pushd $SCRIPT_DIR/../dependencies
-git clone https://github.com/sea-bass/pddlstream.git
+git clone https://github.com/caelan/pddlstream.git
 pushd pddlstream
 touch COLCON_IGNORE
 git submodule update --init --recursive

test/planning/test_pddlstream_manip.py

@@ -3,11 +3,16 @@
 """
 Tests for PDDLStream planning with manipulation streams.
 """
+
+import importlib
 import numpy as np
 import os
 import pytest
 import threading
 
+if importlib.util.find_spec("pddlstream") is None:
+    pytest.skip(allow_module_level=True, reason="PDDLStream not available")
+
 from pyrobosim.core import Robot, World
 from pyrobosim.gui import start_gui
 from pyrobosim.manipulation import GraspGenerator, ParallelGraspProperties

test/planning/test_pddlstream_nav.py

@@ -3,9 +3,14 @@
 """
 Tests for PDDLStream planning with navigation streams.
 """
+import importlib
 import os
+import pytest
 import threading
 
+if importlib.util.find_spec("pddlstream") is None:
+    pytest.skip(allow_module_level=True, reason="PDDLStream not available")
+
 from pyrobosim.core import Robot, World
 from pyrobosim.gui import start_gui
 from pyrobosim.navigation import ConstantVelocityExecutor, PathPlanner

test/test_pyrobosim.py

@@ -2,14 +2,12 @@
 Basic sanity checks for pyrobosim module.
 """
 
-import sys
+import importlib
 from importlib.metadata import version
 
 
 def test_import():
-    import pyrobosim
-
-    assert "pyrobosim" in sys.modules
+    assert importlib.util.find_spec("pyrobosim")
 
 
 def test_version():