# Phase 5 acceptance

Phase 5 adds a ROS Action boundary to the existing Phase 4 baseline:

```text
/home_robotics/pick_and_place
home_robotics_interfaces/action/PickAndPlace
```

The Action was validated for planning-only cube preflight, invalid request/object/
target rejection before delegation, one-active-task rejection, planning-only
cancellation, structured feedback/result mapping, and one `execute:=true` cube
run through the Phase 4 pipeline.

The focused Task Executor suite contains 10 tests. The full recorded ROS result
is 56 tests, 0 errors, 0 failures, and 1 existing skipped test. The Action accepts
only the validated cube named-placement baseline; apple and purple_ball requests
are rejected as unsupported rather than being passed to Phase 4.

The Action boundary is real ROS 2; current Phase 4 delegation is process-level
through a launch subprocess. See [TASK_EXECUTOR_API.md](TASK_EXECUTOR_API.md) for
the implemented interface and cancellation limits.