A system comprising: a first robotic tool; a first groundless user interface device for use by an operator configured to control the first robotic tool using a first frame of reference, the control comprising: identifying a first UID motion of the first UID; decoupling the first UID motion into two or more components comprising a first component and a second component; and performing a first transformation on the two or more components, wherein the first component and the second component are transformed differently; characterized in that the control further comprises: comparing an orientation of the first UID with respect to a first coordinate frame with an orientation of the first robotic tool with respect to a second coordinate frame, wherein the first UID controls the first robotics tool if the orientation of the first UID with respect to the first coordinate frame is within a certain region relative to the first robotic tool with respect to the second coordinate frame, wherein the first coordinate frame corresponds to a natural coordinate frame associated with the operator, and the second coordinate frame corresponds to a camera frame used to present a view of the first robotic tool to the operator, wherein the region comprises a cone around the first robotic tool, the cone comprising a vertex corresponding to an end of the first robotic tool; and performing a first robotic tool movement of the first robotic tool based at least in part upon the first transformation. a first robotic tool; a first groundless user interface device for use by an operator configured to control the first robotic tool using a first frame of reference, the control comprising: identifying a first UID motion of the first UID; decoupling the first UID motion into two or more components comprising a first component and a second component; and performing a first transformation on the two or more components, wherein the first component and the second component are transformed differently; characterized in that the control further comprises: comparing an orientation of the first UID with respect to a first coordinate frame with an orientation of the first robotic tool with respect to a second coordinate frame, wherein the first UID controls the first robotics tool if the orientation of the first UID with respect to the first coordinate frame is within a certain region relative to the first robotic tool with respect to the second coordinate frame, wherein the first coordinate frame corresponds to a natural coordinate frame associated with the operator, and the second coordinate frame corresponds to a camera frame used to present a view of the first robotic tool to the operator, wherein the region comprises a cone around the first robotic tool, the cone comprising a vertex corresponding to an end of the first robotic tool; and performing a first robotic tool movement of the first robotic tool based at least in part upon the first transformation. identifying a first UID motion of the first UID; decoupling the first UID motion into two or more components comprising a first component and a second component; and performing a first transformation on the two or more components, wherein the first component and the second component are transformed differently; characterized in that the control further comprises: comparing an orientation of the first UID with respect to a first coordinate frame with an orientation of the first robotic tool with respect to a second coordinate frame, wherein the first UID controls the first robotics tool if the orientation of the first UID with respect to the first coordinate frame is within a certain region relative to the first robotic tool with respect to the second coordinate frame, wherein the first coordinate frame corresponds to a natural coordinate frame associated with the operator, and the second coordinate frame corresponds to a camera frame used to present a view of the first robotic tool to the operator, wherein the region comprises a cone around the first robotic tool, the cone comprising a vertex corresponding to an end of the first robotic tool; and performing a first robotic tool movement of the first robotic tool based at least in part upon the first transformation. comparing an orientation of the first UID with respect to a first coordinate frame with an orientation of the first robotic tool with respect to a second coordinate frame, wherein the first UID controls the first robotics tool if the orientation of the first UID with respect to the first coordinate frame is within a certain region relative to the first robotic tool with respect to the second coordinate frame, wherein the first coordinate frame corresponds to a natural coordinate frame associated with the operator, and the second coordinate frame corresponds to a camera frame used to present a view of the first robotic tool to the operator, wherein the region comprises a cone around the first robotic tool, the cone comprising a vertex corresponding to an end of the first robotic tool; and performing a first robotic tool movement of the first robotic tool based at least in part upon the first transformation.