I contemplated something like this a few years ago.  Here's a link to
the message I wrote at the time:
http://mid.gmane.org/[email protected]

At the time, my goal was to allow HAL-directed coordinated motion
*instead of* interpreter-directed motion.

Adding offsets is different (since it could take place concurrently with
interpreter-directed motion), but maybe some of the same ideas apply.

I never implemented any of the stuff mentioned on that page.

Jeff

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