diff --git a/script/RobotSC.py b/script/RobotSC.py
index 7cae203..dcdb408 100644
--- a/script/RobotSC.py
+++ b/script/RobotSC.py
@@ -26,9 +26,16 @@ class RobotSC(RobotTCP):
                 self.get_joint_forces()
                 for dev in [jf1, jf2, jf3, jf4,jf5, jf6, jfc]: 
                     dev.update()        
-                
         #print time.time() -start
 
+    def start_task(self, program, *args,  **kwargs):
+        #TODO: Check safe position
+        RobotTCP.start_task(self, program, *args,  **kwargs)
+
+    def stop_task(self, program, *args,  **kwargs):
+        RobotTCP.stop_task()
+        #TODO: Restore safe position            
+                
     
         
     
diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index 2d05d6b..4f96a8f 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -19,7 +19,7 @@ class RobotTCP(TcpDevice, Stoppable):
          self.status = None
          self.lock = threading.Lock()
          self.joint_forces = None
-         self.running_task = None
+         self.current_task = None
          self.high_level_tasks = []
          
     def _sendReceive(self, msg_id, msg = "", timeout =  None):  
@@ -344,7 +344,7 @@ class RobotTCP(TcpDevice, Stoppable):
         #self.setState(State.Busy if self.status=="move" else State.Ready)
         if self.state==State.Offline:
             print "Communication resumed"
-        if (not self.settled) or (self.running_task is not None): self.setState(State.Busy)
+        if (not self.settled) or (self.current_task is not None): self.setState(State.Busy)
         if not self.empty: self.setState(State.Paused)
         else: self.setState(State.Ready)                
 
@@ -362,8 +362,8 @@ class RobotTCP(TcpDevice, Stoppable):
             if len(ev.strip()) >0:
                 self.getLogger().info(ev)
                 self.on_event(ev) 
-            if ((self.running_task is not None) and  (self.get_task_status(self.running_task)<=0)):
-                self.running_task = None
+            if ((self.current_task is not None) and  (self.get_task_status(self.current_task)<=0)):
+                self.current_task = None
             self._update_state()              
             self.setCache({"powered": self.powered,
                            "speed": self.speed,
@@ -385,6 +385,10 @@ class RobotTCP(TcpDevice, Stoppable):
         self.current_task = program
         self.task_create(program, *args, **kwargs)
 
+    def stop_task(self, program, *args,  **kwargs):
+        for task in (self.high_level_tasks + [program]):
+            if self.get_task_status(task)[0]>=0:
+                self.task_kill(task)
 
     def on_event(self,ev):
         pass