(preconds (do-Q) (I1) (I2) (I3) (I4) (I5)
     (not Q1) (not Q2) (not Q3) (not Q4) (not Q5)
     (not R1) (not R2) (not R3) (not R4) (not R5)
     (not S1) (not S2) (not S3) (not S4) (not S5))

(effects (S1) (S5) (S2) (S3) (S4))