diff --git a/packages/rmf-dashboard-framework/src/components/tasks/types/delivery-custom.test.tsx b/packages/rmf-dashboard-framework/src/components/tasks/types/delivery-custom.test.tsx
index beb544ab2..2a6ae1724 100644
--- a/packages/rmf-dashboard-framework/src/components/tasks/types/delivery-custom.test.tsx
+++ b/packages/rmf-dashboard-framework/src/components/tasks/types/delivery-custom.test.tsx
@@ -1,20 +1,46 @@
-import { describe, expect, it } from 'vitest';
+import { fireEvent, render, screen, within } from '@testing-library/react';
+import { describe, expect, it, vi } from 'vitest';
 
 import {
+  DeliveryAreaPickupTaskDefinition,
   deliveryCustomInsertCartId,
   deliveryCustomInsertDropoff,
   deliveryCustomInsertOnCancel,
   deliveryCustomInsertPickup,
   DeliveryCustomTaskDescription,
+  DeliveryCustomTaskForm,
   deliveryInsertCartId,
   deliveryInsertDropoff,
   deliveryInsertOnCancel,
   deliveryInsertPickup,
+  DeliveryPickupTaskDefinition,
   DeliveryPickupTaskDescription,
+  DeliveryPickupTaskForm,
+  DeliverySequentialLotPickupTaskDefinition,
+  isDeliveryCustomTaskDescriptionValid,
+  isDeliveryPickupTaskDescriptionValid,
   makeDefaultDeliveryCustomTaskDescription,
   makeDefaultDeliveryPickupTaskDescription,
+  makeDeliveryCustomTaskBookingLabel,
+  makeDeliveryCustomTaskShortDescription,
+  makeDeliveryPickupTaskBookingLabel,
+  makeDeliveryPickupTaskShortDescription,
 } from '.';
 
+const mockPickupPoints = {
+  pickup_1: 'handler_1',
+  pickup_2: 'handler_2',
+};
+const mockCartIds = ['cart_1', 'cart_2', 'cart_3'];
+const mockDropoffPoints = {
+  dropoff_1: 'handler_3',
+  dropoff_2: 'handler_4',
+};
+const mockPickupZones = {
+  pickup_1: 'zone_1',
+  pickup_2: 'zone_2',
+};
+
 describe('Custom deliveries', () => {
   it('delivery pickup', () => {
     let deliveryPickupTaskDescription: DeliveryPickupTaskDescription | null = null;
@@ -133,6 +159,89 @@ describe('Custom deliveries', () => {
     expect(deliveryPickupTaskDescription).toEqual(description);
   });
 
+  it('delivery pickup task form renders, changes and validates', async () => {
+    const onChange = vi.fn();
+    const onValidate = vi.fn();
+
+    render(
+      <DeliveryPickupTaskForm
+        taskDesc={makeDefaultDeliveryPickupTaskDescription()}
+        pickupPoints={mockPickupPoints}
+        cartIds={mockCartIds}
+        dropoffPoints={mockDropoffPoints}
+        onChange={onChange}
+        onValidate={onValidate}
+      />,
+    );
+
+    let triggerCount = 1;
+
+    const pickupPlace = screen.getByTestId('pickup-location');
+    let input = within(pickupPlace).getByLabelText(/pickup location/i);
+    pickupPlace.focus();
+    fireEvent.change(input, { target: { value: 'a' } });
+    fireEvent.keyDown(pickupPlace, { key: 'ArrowDown' });
+    fireEvent.keyDown(pickupPlace, { key: 'Enter' });
+    expect(onChange).toHaveBeenCalledTimes(triggerCount);
+    expect(onValidate).toHaveBeenCalledTimes(triggerCount);
+    triggerCount += 1;
+
+    const cartId = screen.getByTestId('cart-id');
+    cartId.focus();
+    input = within(cartId).getByLabelText(/cart id/i);
+    fireEvent.change(input, { target: { value: 'a' } });
+    fireEvent.keyDown(pickupPlace, { key: 'ArrowDown' });
+    fireEvent.keyDown(pickupPlace, { key: 'Enter' });
+    expect(onChange).toHaveBeenCalledTimes(triggerCount);
+    expect(onValidate).toHaveBeenCalledTimes(triggerCount);
+    triggerCount += 1;
+
+    const dropoffPlace = screen.getByTestId('dropoff-location');
+    dropoffPlace.focus();
+    input = within(dropoffPlace).getByLabelText(/dropoff location/i);
+    fireEvent.change(input, { target: { value: 'a' } });
+    fireEvent.keyDown(dropoffPlace, { key: 'ArrowDown' });
+    fireEvent.keyDown(dropoffPlace, { key: 'Enter' });
+    expect(onChange).toHaveBeenCalledTimes(triggerCount);
+    expect(onValidate).toHaveBeenCalledTimes(triggerCount);
+    triggerCount += 1;
+  });
+
+  it('delivery pickup booking label', () => {
+    let desc = makeDefaultDeliveryPickupTaskDescription();
+    desc = deliveryInsertPickup(desc, 'test_place', 'test_lot');
+    desc = deliveryInsertCartId(desc, 'test_cart_id');
+    desc = deliveryInsertDropoff(desc, 'test_dropoff');
+    const label = makeDeliveryPickupTaskBookingLabel(desc);
+    expect(label.task_definition_id).toBe(DeliveryPickupTaskDefinition.taskDefinitionId);
+    expect(label.pickup).toBe('test_lot');
+    expect(label.destination).toBe('test_dropoff');
+    expect(label.cart_id).toBe('test_cart_id');
+  });
+
+  it('delivery pickup validity', () => {
+    let desc = makeDefaultDeliveryPickupTaskDescription();
+    expect(
+      isDeliveryPickupTaskDescriptionValid(desc, mockPickupPoints, mockDropoffPoints),
+    ).not.toBeTruthy();
+    desc = deliveryInsertPickup(desc, 'pickup_1', 'handler_1');
+    desc = deliveryInsertCartId(desc, 'cart_1');
+    desc = deliveryInsertDropoff(desc, 'dropoff_1');
+    expect(
+      isDeliveryPickupTaskDescriptionValid(desc, mockPickupPoints, mockDropoffPoints),
+    ).toBeTruthy();
+  });
+
+  it('delivery pickup short description', () => {
+    let desc = makeDefaultDeliveryPickupTaskDescription();
+    desc = deliveryInsertPickup(desc, 'pickup_1', 'handler_1');
+    desc = deliveryInsertCartId(desc, 'cart_1');
+    desc = deliveryInsertDropoff(desc, 'dropoff_1');
+    expect(makeDeliveryPickupTaskShortDescription(desc, undefined)).toBe(
+      '[Delivery - 1:1] payload [cart_1] from [pickup_1] to [dropoff_1]',
+    );
+  });
+
   it('delivery_sequential_lot_pickup', () => {
     let deliveryCustomTaskDescription: DeliveryCustomTaskDescription | null = null;
     try {
@@ -369,4 +478,107 @@ describe('Custom deliveries', () => {
     ]);
     expect(deliveryCustomTaskDescription).toEqual(description);
   });
+
+  it('delivery custom task form renders, changes and validates', async () => {
+    const onChange = vi.fn();
+    const onValidate = vi.fn();
+
+    render(
+      <DeliveryCustomTaskForm
+        taskDesc={makeDefaultDeliveryCustomTaskDescription('delivery_sequential_lot_pickup')}
+        pickupZones={Object.keys(mockPickupZones)}
+        cartIds={mockCartIds}
+        dropoffPoints={Object.keys(mockDropoffPoints)}
+        onChange={onChange}
+        onValidate={onValidate}
+      />,
+    );
+
+    let triggerCount = 1;
+
+    const pickupPlace = screen.getByTestId('pickup-zone');
+    let input = within(pickupPlace).getByLabelText(/pickup zone/i);
+    pickupPlace.focus();
+    fireEvent.change(input, { target: { value: 'a' } });
+    fireEvent.keyDown(pickupPlace, { key: 'ArrowDown' });
+    fireEvent.keyDown(pickupPlace, { key: 'Enter' });
+    expect(onChange).toHaveBeenCalledTimes(triggerCount);
+    expect(onValidate).toHaveBeenCalledTimes(triggerCount);
+    triggerCount += 1;
+
+    const cartId = screen.getByTestId('cart-id');
+    cartId.focus();
+    input = within(cartId).getByLabelText(/cart id/i);
+    fireEvent.change(input, { target: { value: 'a' } });
+    fireEvent.keyDown(pickupPlace, { key: 'ArrowDown' });
+    fireEvent.keyDown(pickupPlace, { key: 'Enter' });
+    expect(onChange).toHaveBeenCalledTimes(triggerCount);
+    expect(onValidate).toHaveBeenCalledTimes(triggerCount);
+    triggerCount += 1;
+
+    const dropoffPlace = screen.getByTestId('dropoff-location');
+    dropoffPlace.focus();
+    input = within(dropoffPlace).getByLabelText(/dropoff location/i);
+    fireEvent.change(input, { target: { value: 'a' } });
+    fireEvent.keyDown(dropoffPlace, { key: 'ArrowDown' });
+    fireEvent.keyDown(dropoffPlace, { key: 'Enter' });
+    expect(onChange).toHaveBeenCalledTimes(triggerCount);
+    expect(onValidate).toHaveBeenCalledTimes(triggerCount);
+    triggerCount += 1;
+  });
+
+  it('delivery custom booking label', () => {
+    let desc = makeDefaultDeliveryCustomTaskDescription('delivery_sequential_lot_pickup');
+    desc = deliveryCustomInsertPickup(desc, 'test_place', 'test_lot');
+    desc = deliveryCustomInsertCartId(desc, 'test_cart_id');
+    desc = deliveryCustomInsertDropoff(desc, 'test_dropoff');
+    let label = makeDeliveryCustomTaskBookingLabel(desc);
+    expect(label.task_definition_id).toBe(
+      DeliverySequentialLotPickupTaskDefinition.taskDefinitionId,
+    );
+    expect(label.pickup).toBe('test_lot');
+    expect(label.destination).toBe('test_dropoff');
+    expect(label.cart_id).toBe('test_cart_id');
+
+    desc = makeDefaultDeliveryCustomTaskDescription('delivery_area_pickup');
+    desc = deliveryCustomInsertPickup(desc, 'test_place', 'test_lot');
+    desc = deliveryCustomInsertCartId(desc, 'test_cart_id');
+    desc = deliveryCustomInsertDropoff(desc, 'test_dropoff');
+    label = makeDeliveryCustomTaskBookingLabel(desc);
+    expect(label.task_definition_id).toBe(DeliveryAreaPickupTaskDefinition.taskDefinitionId);
+    expect(label.pickup).toBe('test_lot');
+    expect(label.destination).toBe('test_dropoff');
+    expect(label.cart_id).toBe('test_cart_id');
+  });
+
+  it('delivery custom validity', () => {
+    let desc = makeDefaultDeliveryCustomTaskDescription('delivery_sequential_lot_pickup');
+    expect(
+      isDeliveryCustomTaskDescriptionValid(
+        desc,
+        Object.values(mockPickupZones),
+        Object.keys(mockDropoffPoints),
+      ),
+    ).not.toBeTruthy();
+    desc = deliveryCustomInsertPickup(desc, 'pickup_1', 'zone_1');
+    desc = deliveryCustomInsertCartId(desc, 'cart_1');
+    desc = deliveryCustomInsertDropoff(desc, 'dropoff_1');
+    expect(
+      isDeliveryCustomTaskDescriptionValid(
+        desc,
+        Object.values(mockPickupZones),
+        Object.keys(mockDropoffPoints),
+      ),
+    ).toBeTruthy();
+  });
+
+  it('delivery custom short description', () => {
+    let desc = makeDefaultDeliveryCustomTaskDescription('delivery_sequential_lot_pickup');
+    desc = deliveryCustomInsertPickup(desc, 'pickup_1', 'zone_1');
+    desc = deliveryCustomInsertCartId(desc, 'cart_1');
+    desc = deliveryCustomInsertDropoff(desc, 'dropoff_1');
+    expect(makeDeliveryCustomTaskShortDescription(desc, undefined)).toBe(
+      '[Delivery - Sequential lot pick up] payload [cart_1] from [pickup_1] to [dropoff_1]',
+    );
+  });
 });
diff --git a/packages/rmf-dashboard-framework/src/components/tasks/types/delivery-custom.tsx b/packages/rmf-dashboard-framework/src/components/tasks/types/delivery-custom.tsx
index 86f87fd7b..4d607bb5d 100644
--- a/packages/rmf-dashboard-framework/src/components/tasks/types/delivery-custom.tsx
+++ b/packages/rmf-dashboard-framework/src/components/tasks/types/delivery-custom.tsx
@@ -237,7 +237,7 @@ export function makeDeliveryCustomTaskShortDescription(
   return '[Unknown] delivery pickup task';
 }
 
-const isDeliveryPickupTaskDescriptionValid = (
+export const isDeliveryPickupTaskDescriptionValid = (
   taskDescription: DeliveryPickupTaskDescription,
   pickupPoints: Record<string, string>,
   dropoffPoints: Record<string, string>,
@@ -255,7 +255,7 @@ const isDeliveryPickupTaskDescriptionValid = (
   );
 };
 
-const isDeliveryCustomTaskDescriptionValid = (
+export const isDeliveryCustomTaskDescriptionValid = (
   taskDescription: DeliveryCustomTaskDescription,
   pickupZones: string[],
   dropoffPoints: string[],
@@ -365,6 +365,7 @@ export function DeliveryPickupTaskForm({
       <Grid item xs={8}>
         <Autocomplete
           id="pickup-location"
+          data-testid="pickup-location"
           freeSolo
           fullWidth
           options={Object.keys(pickupPoints).sort()}
@@ -406,6 +407,7 @@ export function DeliveryPickupTaskForm({
       <Grid item xs={4}>
         <Autocomplete
           id="cart_id"
+          data-testid="cart-id"
           freeSolo
           fullWidth
           options={cartIds}
@@ -446,6 +448,7 @@ export function DeliveryPickupTaskForm({
       <Grid item xs={8}>
         <Autocomplete
           id="dropoff-location"
+          data-testid="dropoff-location"
           freeSolo
           fullWidth
           options={Object.keys(dropoffPoints).sort()}
@@ -577,6 +580,7 @@ export function DeliveryCustomTaskForm({
       <Grid item xs={8}>
         <Autocomplete
           id="pickup-zone"
+          data-testid="pickup-zone"
           freeSolo
           fullWidth
           options={pickupZones.sort()}
@@ -616,6 +620,7 @@ export function DeliveryCustomTaskForm({
       <Grid item xs={4}>
         <Autocomplete
           id="cart-id"
+          data-testid="cart-id"
           freeSolo
           fullWidth
           options={cartIds}
@@ -659,6 +664,7 @@ export function DeliveryCustomTaskForm({
       <Grid item xs={8}>
         <Autocomplete
           id="dropoff-location"
+          data-testid="dropoff-location"
           freeSolo
           fullWidth
           options={dropoffPoints.sort()}
diff --git a/pnpm-lock.yaml b/pnpm-lock.yaml
index 45dea3964..72c41e0f0 100644
--- a/pnpm-lock.yaml
+++ b/pnpm-lock.yaml
@@ -12484,4 +12484,4 @@ snapshots:
     optionalDependencies:
       '@types/react': 18.3.3
       immer: 9.0.21
-      react: 18.3.1
\ No newline at end of file
+      react: 18.3.1