Add PDDLStream planner and discrete examples #14
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This PR adds a working infrastructure for using PDDLStream for task and motion planning.
For now, we use PDDLStream purely as a task planner, in that all actions have a finite set of discrete parameters. So we could have used any other PDDL solver. In a follow-on PR, I will develop additional functionality to use PDDLStream in the true sense, where we sample continuous action parameters and verify these streams.
Specific changes include:
pyrobosim.planning.pddlstream.PDDLStreamPlannerAlso note that for now I am using my own fork of PDDLStream for it to work in Python 3.10. There is a standing PR that, when merged, will allow us to revert to the main repo.