diff --git a/flake.nix b/flake.nix
index 0a3803c..451a443 100644
--- a/flake.nix
+++ b/flake.nix
@@ -44,7 +44,7 @@
           };
 
           packages = {
-            inherit (pkgs) cad-gen cg-gen blender;
+            inherit (pkgs) cad-gen cg-gen blender dataset-gen pddl-spec-gen;
           };
 
           inherit ros pkgs;
diff --git a/pkgs/default.nix b/pkgs/default.nix
index fd7e945..9d915e4 100644
--- a/pkgs/default.nix
+++ b/pkgs/default.nix
@@ -7,6 +7,12 @@ self: super: with self.lib; let
     hash = "sha256-q1032Lu2xnMWZkr+T0rLhbpdmceDHygHC6BN3AKbFVk=";
     rev = "69b8512d6b5dafe0571b5d73a910a26bbc6a84a5";
   };
+
+  pddlSpecGeneratorSrc = self.fetchgit {
+    url = "https://gitlab.com/robossembler/pddl-spec-generator";
+    hash = "sha256-g/yaaIHRJriPwvVr2pVytQZmJG/BYvsg4q64yEps0T8=";
+    rev = "61dcd1553365436f13107f395d1ee7e7b012c3e6";
+  };
   
   bpy = self.blender.overrideAttrs (old: {
     pname = "bpy";
@@ -108,4 +114,8 @@ in {
     import sys
     rcg_full_pipeline(sys.argv[1])
     '';
+
+  pddl-spec-gen = pddlSpecGeneratorSrc;
+  dataset-gen = rbsFrameworkSrc;
+
 }