Various forms of pervasive computing environments are be- ing deployed in an increasing number of areas including healthcare, home automation, and military. This evolution makes the development of pervasive computing applications challenging because it requires to manage a range of heterogeneous entities with a wide variety of functionalities. This paper presents Pantagruel, an approach to integrating a taxonomical description of a pervasive computing environment into a visual programming language. A taxonomy describes the relevant entities of a given pervasive computing area and serves as a parameter to a sensor controller-actuator development paradigm. The orchestration of areaspecific entities is supported by high-level constructs, customized with respect to taxonomical information. We have implemented a visual environment to develop taxonomies and orchestration rules. Furthermore, we have developed a compiler for Pantagruel and successfully used it for applications in various pervasive computing areas, such as home automation and building management.