The RoboCup@Home rulebook of 2017 (Download) is based and 4 tests are selected as follows:
1. Speech and Person Recognition
2. Help-me-carry
3. Restaurant
4. Finals
* Object placement and the working envelope of the robot arm
Refer to more information at the TurtleBot Arm wiki page [http://wiki.ros.org/turtlebot_kinect_arm_calibration/Tutorials/CalibratingKinectToTurtleBotArm], the object placements will be located within the reach of the working envelope of the robot arm (refer to the illustration below).
TurtleBot Arm [Source: http://wiki.ros.org/turtlebot_kinect_arm_calibration/Tutorials/CalibratingKinectToTurtleBotArm]