Table Of Contents

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For more information on the above examples, you can click on the links above or you can go directly to the Showcase page.


eTasl is a task specification language for reactive control of robot systems. It is a language that allows you to describe how your robotic system has to move and interact with sensors. This description is based on a constraint-based methodology. Everything is specified as an optimization problem subject to constraints. What eTaSL/eTC is and is not explains this further. In CobaRop you’ll find a video and presentation on our approach to robot programming. The following detailed presentation details the motivation behind eTaSL and explains the basic semantics/syntax of an eTaSL specification. The Showcase page gives many more videos with application examples.

Getting started and tutorials

You can get your first experience with eTaSL without installing anything, from within your browser window using this tutorial on (this uses the python eTaSL driver in a Jupyter notebook). Be aware this can be slow to load. Currently does not work with Google Chrome.

eTaSL is installed from the git repositories. In eTaSL Installation and Getting Started Guide you can find instructions for downloading and building eTaSL v1.3.2, as well as a number of examples and tutorials to get started (Release notes).

A set of tutorials is available that demonstrate how to use eTaSL for a full robot application in an Orocos/Ros environment. In these tutorials, a template application is discussed that can be deployed in simulation or on a physical robot. This template includes eTaSL specifications, but also other components such as state machines, robot simulators, robot drivers and sensor drivers. Currently, drivers for 4 robot types are provided (Universal Robots - UR10, Kinova Gen3, Franka Emika-Panda, and Kuka -iiwa LWR4). You can use this template application as a starting point for your own applications.


This Presentation gives you an introduction. eTaSL Documentation gives you the eTaSL documentation manual. A typical eTaSL robot application uses also other libraries, such as rFSM, ROS and Orocos RTT. Third Party documentation gives you useful links to the documentation of this third party software. Developer Documentation explains API documentation and how you can get involved in the development process.


eTaSL is used in the following projects.


The eTaSL software is licensed under the LGPL License, see LICENSE.txt

Getting support


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