In general, usage seems to be with -taH for temporary locations (e.g. a book which is on the table right now but might be on the floor this evening) and without -taH for more permanent locations (e.g. the restaurant which is opposite the town hall not just today but will stay there).
This course is not completely consistent in this (sometimes using -taH for permanent locations, sometimes omitting it for temporary locations), and will usually accept both versions in English-to-Klingon translations. (If not, report the missing version so that it can be added.)