This seems to be a question for IdP-initiated SAML SSO (since with SP-initiated, the SP i.e. Bitbucket is responsible for setting the relaystate parameter automatically) i.e. for the ability to have "Bitbucket" icon somewhere on your IdP portal that people can click after they've logged in to proceed to Bitbucket.
The answer is: whatever URL you want them to end up after clicking on this icon. If in doubt, login without SAML, and see where you end up.
For Bitbucket Cloud it seems to be https://bitbucket.org/dashboard/overview
For Bitbucket Server it seems to be <your bitbucket baseURL>/dashboard
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