(preconds (do-Q) (I1) (I2) (I3) (I4)
     (not Q1) (not Q2) (not Q3) (not Q4)
     (not R1) (not R2) (not R3) (not R4)
     (not S1) (not S2) (not S3) (not S4))

(effects (S1) (S3) (S2) (S4))