Until(
    Finally(Logic(And(Binary("wearing",Var(1),Const(-1)), And(Binary("reaching_into",Var(1),Const(-5)), Binary("color",Const(-1),Const(-3)))))), 
    Until(
        Finally(Logic(Binary("retrieving",Var(1),Const(-4)))), 
            Until(
                Finally(Logic(Binary("on",Const(-7),Const(-2)))), 
                Until(
                    Finally(Logic(Binary("placing",Var(1),Const(-4)))), 
                    Finally(Logic(Binary("placing",Var(1),Const(-6))))))))

spec1 = [[('Finally(Logic(And(Binary("wearing",Var(1),Const(-1)), And(Binary("reaching_into",Var(1),Const(-5)), Binary("color",Const(-1),Const(-3))))))',)]]
spec2 = [[('Finally(Logic(Binary("retrieving",Var(1),Const(-4))))',)]]
spec3 = [[('Finally(Logic(Binary("on",Const(-7),Const(-2))))',)]]
spec4 = [[('Finally(Logic(Binary("placing",Var(1),Const(-4))))',)]]
spec5 = [[('Finally(Logic(Binary("placing",Var(1),Const(-6))))',)]]