Problem:
We need to simplify the "offset" or "raw" servo angles.

Why:
There are so many commands for doing the same thing, and they are confusing.
[sSerN#V#]
[sAngN#V#]
[gAng]
[gSer]

It's confusing what commands do what.

Does [gIKX#Y#Z#] return angles WITH offset or WITHOUT offset? Does [gFKT#L#R#] expect angles with an offset or no offset?

Solution:
I'm not sure. What do you suggest?