diff --git a/flake.nix b/flake.nix
index 94fc2b3..9f5daaa 100644
--- a/flake.nix
+++ b/flake.nix
@@ -26,6 +26,7 @@
           mayo = pkgs.libsForQt5.callPackage ./pkgs/misc/mayo { };
           darknet = pkgs.callPackage ./pkgs/misc/darknet { };
           fstl = pkgs.libsForQt5.callPackage ./pkgs/misc/fstl { };
+          unified-planning = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/unified-planning { };
         in
         {
           inherit pkgs;
diff --git a/pkgs/development/python-modules/unified-planning/default.nix b/pkgs/development/python-modules/unified-planning/default.nix
new file mode 100644
index 0000000..aa7b822
--- /dev/null
+++ b/pkgs/development/python-modules/unified-planning/default.nix
@@ -0,0 +1,89 @@
+{ lib
+, python3
+, fetchFromGitHub
+, fetchPypi
+, clingo
+}:
+let
+  buildPythonPackage = python3.pkgs.buildPythonPackage;
+
+  antlr472-python3-runtime = buildPythonPackage rec {
+    pname = "antlr4-python3-runtime";
+    version = "v4.7.2";
+    src = fetchPypi {
+      inherit pname version;
+      hash = "sha256-Fozc7I+5FS6EqHym/SYbPVTI9jWPQqs7gTsUpxk7tQs=";
+    };
+    meta = with lib; {
+      description = "Runtime for ANTLR";
+      homepage = "https://www.antlr.org/";
+      license = licenses.bsd3;
+    };
+  };
+
+  tarski = buildPythonPackage rec {
+    pname = "tarski";
+    version = "0.8.2";
+    format = "pyproject";
+
+    src = fetchFromGitHub {
+      owner = "aig-upf";
+      repo = "tarski";
+      rev = "v${version}";
+      hash = "sha256-9yXFPrfLXNUWSoTuMKgdDxtbCZCvrcRflZHJLnJUPAw=";
+    };
+
+    nativeBuildInputs = with python3.pkgs; [
+      cython
+      setuptools
+      wheel
+    ];
+
+    propagatedBuildInputs = (with python3.pkgs; [ psutil multipledispatch ]) ++ [ antlr472-python3-runtime ];
+
+    pythonImportsCheck = [ "tarski" ];
+
+    meta = with lib; {
+      description = "Tarski - An AI Planning Modeling Framework";
+      homepage = "https://github.com/aig-upf/tarski";
+      changelog = "https://github.com/aig-upf/tarski/blob/${src.rev}/CHANGELOG.md";
+      license = licenses.asl20;
+      maintainers = with maintainers; [ ];
+    };
+  };
+in
+buildPythonPackage rec {
+  pname = "unified-planning";
+  version = "unstable-2023-03-01";
+  format = "setuptools";
+
+  src = fetchFromGitHub {
+    owner = "movefasta";
+    repo = "unified-planning";
+    rev = "e58a76e5a128731112155b52dfb03384272eafab";
+    hash = "sha256-KN7br09YYfhdOsuTvnwArW6yOyZ0sZDCt7B0ymbMVqM=";
+  };
+
+  propagatedBuildInputs = (with python3.pkgs; [
+    networkx
+    pyparsing
+    pytest
+    protobuf
+    tarski
+    grpcio
+    grpcio-tools
+  ]);
+
+  checkPhase = ''
+    export PATH=${lib.makeBinPath [ clingo ]}:$PATH
+  '';
+
+  pythonImportsCheck = [ "unified_planning" ];
+
+  meta = with lib; {
+    description = "The AIPlan4EU Unified Planning Library";
+    homepage = "https://github.com/movefasta/unified-planning";
+    license = licenses.asl20;
+    maintainers = with maintainers; [ ];
+  };
+}
diff --git a/pkgs/misc/darknet/default.nix b/pkgs/misc/darknet/default.nix
index e11a988..2b0dc5e 100644
--- a/pkgs/misc/darknet/default.nix
+++ b/pkgs/misc/darknet/default.nix
@@ -55,16 +55,6 @@ stdenv.mkDerivation rec {
     cudaEnv
   ];
 
-
-# indefined reference to `std::condition_variable::wait(std::unique_lock<std::mutex>&)@GLIBCXX_3.4.30
-
-  # LD_LIBRARY_PATH = lib.makeLibraryPath (nativeBuildInputs ++ [ cudaStub ]);
-  
-  # shellHook = ''
-  #   export ARCH= -gencode arch=compute_61,code=sm_61 -gencode arch=compute_61,code=compute_61
-  #   export LDFLAGS+= `pkg-config --libs opencv4 2> /dev/null || pkg-config --libs opencv` -lstdc++
-  # '';
-
   cmakeFlags =
     (lib.optionals enableCuda [ "CUDA_PATH=${cudatoolkit}" ]) ++ [
       "GPU=1"
@@ -94,10 +84,6 @@ stdenv.mkDerivation rec {
 
   autoPatchelfIgnoreMissingDeps = true;
 
-  shellHook = ''
-    export LD_LIBRARY_PATH=${cudaStub}''${LD_LIBRARY_PATH:+:}$LD_LIBRARY_PATH
-  '';
-
   meta = with lib; {
     description = "YOLOv4 / Scaled-YOLOv4 / YOLO - Neural Networks for Object Detection (Windows and Linux version of Darknet )";
     homepage = "https://github.com/AlexeyAB/darknet";