from typing import Dict, Any

ALLOWED_SKILLS = {
    "pick": ["object"],
    "align": ["object", "target_fixture"],
    "insert": ["object", "target_fixture"],
    "release": ["object"],
}

ALLOWED_PREDICATES = {
    "object_in_fixture",
    "depth_in_range",
    "pose_in_tolerance",
}


def validate_task_spec(task: Dict[str, Any]) -> None:
    assert "skills" in task
    assert "goal" in task

    # ---- skills ----
    for s in task["skills"]:
        name = s["name"]
        args = s.get("args", {})

        if name not in ALLOWED_SKILLS:
            raise ValueError(f"Unknown skill: {name}")

        required_args = ALLOWED_SKILLS[name]
        for k in required_args:
            if k not in args:
                raise ValueError(f"Skill {name} missing arg: {k}")

    # ---- predicates ----
    for p in task["goal"]["success_conditions"]:
        if p["type"] not in ALLOWED_PREDICATES:
            raise ValueError(f"Unknown predicate: {p['type']}")