Proposal: Task Abstraction Framework for Multi-Task Management in MJPC

The MJPC repository demonstrates multi-task control through several examples where tasks coexist in single files, each requiring specific residual parameters and weightings. While these examples are instructive, managing task transitions (like smoothly fading between residuals) remains challenging.

Has there been consideration of developing a higher-level task abstraction framework? For example, allowing users to define tasks via YAML configurations and implement clean switching logic between them? This abstraction would significantly enhance MJPC's deployability in real-world applications.

I'd appreciate any thoughts or suggestions on this architectural approach.