Yes, they provide camel and jeep safari on dunes. They also provide two days and one night package that includes visit to Jaisalmer including the fort, havelis, war museum, markets, jeep and camel safaries and sand dune picnic/dinner. You can select what you wish to enjoy. I believe they are quite flexible. I did not take the package as I was on government duty. However the group from Europe informed me that they were quite happy with the package.
Get an answer from Mirvana Nature Resort and Camp staff and past guests.