I didn't explain myself very well. First of all, thank you for your reply, I'll explain the process in detail.
1- I create a curve relative to a reference point, called Ref_enviroment.
2- I import the curve in robodk, and it is associated to this Ref_enviroment frame.
3- For processing reasons, the points must be relative to a frame (ref_plane), and this should be the origin of coordinates. If I load a point that is at (250.0, -500.0, 20.0) being under the the frame ref_plane (230.0, -520.0, -10.0) the final program should generate the point at (20.0, 20.0, 30.0).
I have to do this, so that the program loads the points under a feature plane.
This is an example, but I attach an rdk file with an import of the curve and the generated trajectory.
The robot is a UR10e, and the post used is Universal Robot URP.
Besides, I have to do this by script, which I don't know if it would be possible.
Translated with www.DeepL.com/Translator