what is the format cartesian position should be given and wrt which tf frame for a robot manipulator

[lakshmip001]

I am trying to move to a cartesian pose using trajopt optimization but I am giving with respect to a base_link frame but my robot moves to someother position . I compared the position with the optimized trajectory end point with joint values is the position where robot reaches but the pose given for optimization is different. Kindly please help me how to rectify this problem.