Example1:
action1=-0.09*s10 - 0.06*s11 - 0.03*s12 + 1.15*s2 + 0.38*ifelse(-2.67*ifelse(-8.19*s1 - 0.54*s10 + 1.32, -0.92, 3.08) - 1.16, 0.01*s10 + 0.21*s14 - 3.2*s8 + 1.98, 0.1) - 0.14
action2=0.23*(-0.04*ifelse(28.89*s1 - 7.04, -1.52, 1.65*ifelse(-0.78*s4 - 0.6, 4.81*s2 + 0.17, 0.03) + 0.25) - 0.3)*(0.78*cos(1.18*(9.18*s0 + 0.94)/(0.15*(-0.06*ifelse(-0.82, 1.84 - 0.08*s14, 4.66*s0 + 0.41*s10 + 0.29*s12 - 0.01) - 0.18)*(0.09*ifelse(-0.82, 1.84 - 0.08*s14, 4.66*s0 + 0.41*s10 + 0.29*s12 - 0.01) - 0.5) + 1.01) + 0.55) + 0.08) + 0.36*ifelse(0.23*s11 + 1.46, -0.6, 0.06*(9.18*s0 + 0.94)/(0.15*(-0.06*ifelse(-0.82, 1.84 - 0.08*s14, 4.66*s0 + 0.41*s10 + 0.29*s12 - 0.01) - 0.18)*(0.09*ifelse(-0.82, 1.84 - 0.08*s14, 4.66*s0 + 0.41*s10 + 0.29*s12 - 0.01) - 0.5) + 1.01) + 0.02*ifelse(0.17, -0.34, 0.58) + 2.64) - 0.48*sin(5.38*s0 + 0.36*ifelse(-0.82, 1.84 - 0.08*s14, 4.66*s0 + 0.41*s10 + 0.29*s12 - 0.01) + 0.85) + 0.01 - 0.34*(-0.07*s14 + 0.95*ifelse(28.89*s1 - 7.04, -1.52, 1.65*ifelse(-0.78*s4 - 0.6, 4.81*s2 + 0.17, 0.03) + 0.25) - 0.93)/(2.69*(-0.06*ifelse(-0.82, 1.84 - 0.08*s14, 4.66*s0 + 0.41*s10 + 0.29*s12 - 0.01) - 0.18)*(0.09*ifelse(-0.82, 1.84 - 0.08*s14, 4.66*s0 + 0.41*s10 + 0.29*s12 - 0.01) - 0.5) + 2.26)
action3=-0.33*(1.37*ifelse(-1.39*ifelse(-13.03*s1 - 0.76, -2.51, 1.0) - 1.63, 0.05*s16 - 8.46*s2 + 3.0, -0.79) - 0.2)/(0.15*s6 + 0.08*ifelse(0.37, 0.85, -1.23) + 1.91) - 0.2*ifelse(3.5*ifelse(-13.03*s1 - 0.76, -2.51, 1.0) - 0.35, -0.97*s8 - 1.89*(7.84*s0 - 0.43)/(-3.22*s1*(-3.1*s1 - 0.04) + 1.18) - 0.95, 1.75*(0.85*s8 - 1.35)/(-10.8*s1*(-3.1*s1 - 0.04) + 0.8) + 0.92) - 0.26
action4=-0.68*s0 + 0.95*s5 - 0.24*ifelse(-2.06*ifelse(6.07*s0 - 3.98*s1 + 2.04, -1.37*s8 - 2.04, 10.51) + 2.7*ifelse(-9.21*s1 - 0.11*s15 - 7.48*s5 - 5.2*s6 - 2.26*s7 + 7.02, -1.38*s1 - 0.17*s10 - 0.09*ifelse(0.09, -0.3, 0.26) - 0.02, 0.03*s5 + 2.39*ifelse(12.47*s0 + 0.07*s11 + 4.8*s6 + 1.59*s9 - 1.38, -6.56, 0.22 - 4.99*s0) + 8.72) - 1.06, 0.35*s14 + 0.24, 5.42*s0 + 0.1*s14 - 0.87*ifelse(6.07*s0 - 3.98*s1 + 2.04, -1.37*s8 - 2.04, 10.51) - 1.49*sin(-2.29*s2 + 0.34*s5 + 0.24*s6 + 0.1*s7 + 1.36*s8 - 0.02*ifelse(6.07*s0 - 3.98*s1 + 2.04, -1.37*s8 - 2.04, 10.51) + 2.01) - 0.7*cos(0.15*s11 + 0.02*s15 + 1.69*s5 + 1.18*s6 + 0.51*s7 - 2.95*s8 - 0.02*ifelse(12.47*s0 + 0.07*s11 + 4.8*s6 + 1.59*s9 - 1.38, -6.56, 0.22 - 4.99*s0) + 0.68) + 1.54) + 0.45*sin(0.77*s8 + 0.85*(-1.36*s11 - 0.16)/(0.03*s16 + 8.0) + 0.3*ifelse(6.07*s0 - 3.98*s1 + 2.04, -1.37*s8 - 2.04, 10.51) + 1.92) - 0.31 - 0.52*(0.46*s0 + 0.91*s9 + 2.37*ifelse(-9.21*s1 - 0.11*s15 - 7.48*s5 - 5.2*s6 - 2.26*s7 + 7.02, -1.38*s1 - 0.17*s10 - 0.09*ifelse(0.09, -0.3, 0.26) - 0.02, 0.03*s5 + 2.39*ifelse(12.47*s0 + 0.07*s11 + 4.8*s6 + 1.59*s9 - 1.38, -6.56, 0.22 - 4.99*s0) + 8.72) - 0.08)/(2.22*(1.51*s1 + 0.07)*(2.05*s1 + 0.07) + 3.07)
action5=0.02*(0.09*s11 + 0.08)*(0.11*s13 + 0.09) + 0.2*ifelse(-2.37*sin(6.35*s0 + 0.52 + 3.71*(-14.05*s1 - 0.02*s13 + 0.2)/(-1.06*(-0.62*s10 + 0.63*s11 + 1.34)*(0.71*s10 + 0.75*s12 - 2.04) + 22.61)) - 0.42 - 19.99*(-14.05*s1 - 0.02*s13 + 0.2)/(-1.06*(-0.62*s10 + 0.63*s11 + 1.34)*(0.71*s10 + 0.75*s12 - 2.04) + 22.61), 0.84 - 3.35*cos(1.95*(-0.04*s14 + 1.0*s5 + 3.11*s8 - 4.16)/(0.06*s10 + 0.05*s16 + 2.28*s17 + 5.67*s8 + 6.93) - 1.5), 0.05*(-0.62*s10 + 0.63*s11 + 1.34)*(0.71*s10 + 0.75*s12 - 2.04) - 0.79) - 0.06
action6=0.23 - 0.51*sin(1.59*ifelse(3.93*s1 - 0.23, -5.01*s0 - 1.01, 0.45*ifelse(0.27, 1.09, -1.29) + 0.24) + 2.82)

Example2:
action1=-0.16*s0 - 0.14*s10 - 0.05*s11 - 0.03*s12 + 1.08*s2 + 0.67*ifelse(-1.02*ifelse(-47.59*s1 - 0.96*s10 - 0.12, -1.92, 1.38) - 0.73, 0.13*s14 - 2.0*s8 + 3.14, -0.41) - 0.09
action2=0.33*(0.08 - 0.83*ifelse(216.08*s1 + 0.11*s15 + 0.04*(-1.01*ifelse(-1.36, 1.87, 4.61*s0 + 0.76*s10 + 0.17*s12 + 0.42) - 0.3)*(-0.69*ifelse(-1.36, 1.87, 4.61*s0 + 0.76*s10 + 0.17*s12 + 0.42) - 0.24) + 0.06, -1.15, 0.94*ifelse(0.88, 5.48*s2 + 0.37, -1.41) + 0.98))*(1.25*cos(1.34*(7.65*s0 + 0.84)/(0.64*(-1.01*ifelse(-1.36, 1.87, 4.61*s0 + 0.76*s10 + 0.17*s12 + 0.42) - 0.3)*(-0.69*ifelse(-1.36, 1.87, 4.61*s0 + 0.76*s10 + 0.17*s12 + 0.42) - 0.24) + 1.37) + 1.91) + 0.88) + 0.54*ifelse(0.12*s11 + 1.71, -0.74, 4.46) - 0.66*sin(7.56*s0 + 0.55*ifelse(-1.36, 1.87, 4.61*s0 + 0.76*s10 + 0.17*s12 + 0.42) + 0.89) - 0.04 - 0.42*(-0.06*(7.65*s0 + 0.84)/(0.64*(-1.01*ifelse(-1.36, 1.87, 4.61*s0 + 0.76*s10 + 0.17*s12 + 0.42) - 0.3)*(-0.69*ifelse(-1.36, 1.87, 4.61*s0 + 0.76*s10 + 0.17*s12 + 0.42) - 0.24) + 1.37) + 1.43*ifelse(216.08*s1 + 0.11*s15 + 0.04*(-1.01*ifelse(-1.36, 1.87, 4.61*s0 + 0.76*s10 + 0.17*s12 + 0.42) - 0.3)*(-0.69*ifelse(-1.36, 1.87, 4.61*s0 + 0.76*s10 + 0.17*s12 + 0.42) - 0.24) + 0.06, -1.15, 0.94*ifelse(0.88, 5.48*s2 + 0.37, -1.41) + 0.98) - 0.02*cos(1.34*(7.65*s0 + 0.84)/(0.64*(-1.01*ifelse(-1.36, 1.87, 4.61*s0 + 0.76*s10 + 0.17*s12 + 0.42) - 0.3)*(-0.69*ifelse(-1.36, 1.87, 4.61*s0 + 0.76*s10 + 0.17*s12 + 0.42) - 0.24) + 1.37) + 1.91) - 0.93)/(2.66*(-1.01*ifelse(-1.36, 1.87, 4.61*s0 + 0.76*s10 + 0.17*s12 + 0.42) - 0.3)*(-0.69*ifelse(-1.36, 1.87, 4.61*s0 + 0.76*s10 + 0.17*s12 + 0.42) - 0.24) + 1.74)
action3=-0.18*ifelse(-6.26*ifelse(-37.55*s1 - 0.28, -2.93, 2.23) - 0.17, -9.44*s2 - 0.75, 0.58) - 0.24*ifelse(7.11*ifelse(-37.55*s1 - 0.28, -2.93, 2.23) - 0.26, -1.89*s8 - 3.19*(11.87*s0 - 0.74)/(2.42*(-4.02*s1 - 0.16)*(-3.98*s1 - 0.12) + 1.79) + 0.24, 2.58*(1.02*s8 - 2.57)/(3.92*(-4.02*s1 - 0.16)*(-3.98*s1 - 0.12) + 0.87) + 1.86) - 0.24
action4=-0.45*s0 + 0.87*s5 - 0.34*ifelse(-3.46*ifelse(1.89*s0 - 2.94*s1 + 1.91, -0.21*s8 - 2.78, 14.55 - 0.05*s8) + 4.0*ifelse(-10.9*s1 - 0.1*s15 - 7.96*s5 - 5.7*s6 - 2.23*s7 + 7.3, -4.61*s1 - 0.18*s10 + 0.02, 2.8*ifelse(13.52*s0 + 6.76*s6 + 1.85*s9 - 2.24, 0.08*s16 - 6.71, 0.7 - 6.0*s0) + 10.38) - 0.94, 0.21*s14 + 1.0, 12.8*s0 + 0.13*s14 + 0.02*s3 - 0.36*ifelse(1.89*s0 - 2.94*s1 + 1.91, -0.21*s8 - 2.78, 14.55 - 0.05*s8) - 1.22*sin(0.01*s15 - 1.89*s2 + 1.12*s5 + 0.8*s6 + 0.31*s7 + 0.82*s8 + 1.84) - 0.86*cos(0.03*s15 + 2.16*s5 + 1.55*s6 + 0.61*s7 - 1.73*s8 + 1.85) + 1.6) + 0.45*sin(0.92*s8 + 0.56*ifelse(1.89*s0 - 2.94*s1 + 1.91, -0.21*s8 - 2.78, 14.55 - 0.05*s8) + 1.38 + 1.08*(-1.01*s11 - 0.56)/(9.93 - 0.07*s17)) - 0.2 - 0.62*(3.46*s0 + 1.25*s9 + 1.75*ifelse(-10.9*s1 - 0.1*s15 - 7.96*s5 - 5.7*s6 - 2.23*s7 + 7.3, -4.61*s1 - 0.18*s10 + 0.02, 2.8*ifelse(13.52*s0 + 6.76*s6 + 1.85*s9 - 2.24, 0.08*s16 - 6.71, 0.7 - 6.0*s0) + 10.38) + 0.25)/(1.91*(1.64*s1 - 0.35)*(1.76*s1 - 0.2) + 3.62)
action5=0.17*s0 + 0.27*ifelse(0.07*s16 - 38.55*(0.22 - 41.33*s1)/(0.3*(0.04*s10 - 0.11)*(-0.7*s10 + 0.17*s15 - 0.3) + 5.83) - 9.73*sin(7.35*s0 - 0.06*s19 + 1.83*(0.22 - 41.33*s1)/(0.3*(0.04*s10 - 0.11)*(-0.7*s10 + 0.17*s15 - 0.3) + 5.83) + 0.74) - 0.3, 2.48 - 2.11*cos(1.43 - 1.88*(0.2*s13 + 0.06*s15 - 4.64*s5 + 2.69*s8 - 2.16)/(2.37*s17 + 6.3*s8 + 0.22*(0.04*s10 - 0.11)*(-0.7*s10 + 0.17*s15 - 0.3) + 2.42)), -0.3*ifelse(0.5, -0.01*s0 - 0.38, 0.63) - 2.11) + 0.08
action6=0.5*sin(2.11*ifelse(75.21*s1 + 0.23, 11.91*s0 + 0.78, 1.06) + 3.04) + 0.18

Example3:
action1=0.2*s1 - 0.2*s10 - 0.07*s11 - 0.05*s12 + 0.63*s2 + 0.49*ifelse(-1.48*ifelse(-31.42*s1 - 0.28*s10 + 1.04, 0.01*s16 - 1.83, 3.92) - 1.27, 0.09*s14 - 1.52*s8 + 5.39, 0.36*s3 - 1.19) - 0.05
action2=0.23*(-1.11*ifelse(222.43*s1 + 0.91, -2.12, 1.03*ifelse(1.08 - 0.01*s16, 7.68*s2 + 0.59*s3 - 0.89*s5 + 0.56, -1.4) + 1.56) - 0.19)*(0.99*cos(2.3 + 2.01*(10.22*s0 + 0.03*s14 + 0.95)/(1.51*(-1.14*ifelse(-1.54, 1.36, 6.27*s0 + 0.82*s10 + 0.15*s12 + 0.39) - 0.59)*(-1.02*ifelse(-1.54, 1.36, 6.27*s0 + 0.82*s10 + 0.15*s12 + 0.39) - 0.52) + 1.27)) + 1.18) + 0.63*ifelse(-1.27*(0.01 - 0.41*s11)/(0.01*s15 + 0.2*(-1.14*ifelse(-1.54, 1.36, 6.27*s0 + 0.82*s10 + 0.15*s12 + 0.39) - 0.59)*(-1.02*ifelse(-1.54, 1.36, 6.27*s0 + 0.82*s10 + 0.15*s12 + 0.39) - 0.52) + 4.99) + 1.2, -1.24, 4.27) - 1.0*sin(8.65*s0 + 0.54*ifelse(-1.54, 1.36, 6.27*s0 + 0.82*s10 + 0.15*s12 + 0.39) + 0.02*ifelse(1.08 - 0.01*s16, 7.68*s2 + 0.59*s3 - 0.89*s5 + 0.56, -1.4) + 0.93) + 0.12 - 0.41*(1.66*ifelse(222.43*s1 + 0.91, -2.12, 1.03*ifelse(1.08 - 0.01*s16, 7.68*s2 + 0.59*s3 - 0.89*s5 + 0.56, -1.4) + 1.56) - 0.93)/(2.89*(-1.14*ifelse(-1.54, 1.36, 6.27*s0 + 0.82*s10 + 0.15*s12 + 0.39) - 0.59)*(-1.02*ifelse(-1.54, 1.36, 6.27*s0 + 0.82*s10 + 0.15*s12 + 0.39) - 0.52) + 2.67)
action3=-0.24*ifelse(7.65*ifelse(-40.66*s1 - 0.79, -3.7, 2.04) + 0.52, -1.42*s8 - 4.13*(13.52*s0 - 1.78)/(3.33*(0.01 - 3.95*s1)*(0.02 - 4.44*s1) + 2.04) - 1.34, 2.42*(0.33*s8 - 2.9)/(-0.12*s10 + 2.13*(0.01 - 3.95*s1)*(0.02 - 4.44*s1) + 1.44) + 0.82) - 0.17 - 0.27*(2.13*ifelse(0.25 - 1.81*ifelse(-40.66*s1 - 0.79, -3.7, 2.04), -1.74 - 5.09*(5.77*s2 + 0.69*s3 - 0.1)/(0.24*s9 + 2.27), 1.33) - 0.02)/(2.77 - 0.05*s12)
action4=-1.21*s0 + 0.61*s5 - 0.29*ifelse(-5.08*ifelse(1.0*s0 - 3.21*s1 + 1.78, -0.13*s8 - 3.26, 17.51) + 6.09*ifelse(-14.63*s1 - 0.11*s15 - 8.19*s5 - 5.33*s6 - 2.27*s7 + 7.97, -7.22*s1 - 0.08*s10 + 0.04, 3.06*ifelse(14.56*s0 + 7.74*s6 + 2.07*s9 - 3.2, -7.21, 0.79 - 6.53*s0) + 11.85) - 1.2, 0.25*s14 + 2.05, 16.12*s0 + 0.27*s14 + 0.03*s15 - 0.28*ifelse(1.0*s0 - 3.21*s1 + 1.78, -0.13*s8 - 3.26, 17.51) - 1.44*sin(0.03*s15 - 1.25*s2 + 2.38*s5 + 1.55*s6 + 0.66*s7 + 0.36*s8 + 1.99) - 0.79*cos(0.04*s15 + 2.9*s5 + 1.88*s6 + 0.8*s7 - 0.74*s8 + 2.37) + 1.16) + 0.3*sin(0.02*s1 - 0.06*s11 + 0.9*s8 + 0.43*ifelse(1.0*s0 - 3.21*s1 + 1.78, -0.13*s8 - 3.26, 17.51) + 0.57) - 0.08 - 0.93*(7.63*s0 + 1.17*s9 + 1.15*ifelse(-14.63*s1 - 0.11*s15 - 8.19*s5 - 5.33*s6 - 2.27*s7 + 7.97, -7.22*s1 - 0.08*s10 + 0.04, 3.06*ifelse(14.56*s0 + 7.74*s6 + 2.07*s9 - 3.2, -7.21, 0.79 - 6.53*s0) + 11.85) + 0.9)/(1.11*s5 + 2.28*(2.17*s1 - 0.44)*(-0.08*s0 + 1.95*s1 - 0.02*s17 - 0.36) + 3.95)
action5=-0.01*s10 - 0.e-2*s8 + 0.24*ifelse(-30.48*(0.01 - 28.41*s1)/(0.27*s12 + 3.54) - 4.38*sin(6.48*s0 + 1.99*(0.01 - 28.41*s1)/(0.27*s12 + 3.54) + 0.76) + 0.66, 3.18 - 1.63*cos(1.42 - 1.74*(-0.08*s2 - 3.92*s5 + 1.78*s8 - 2.79)/(1.37*s19 - 9.26*s5 + 3.76*s8 + 4.18)), 0.03*(-0.4*s10 + 0.24*s19 + 0.94)*(-0.09*s10 + 0.09*s11 - 0.07) - 3.34) + 0.3
action6=0.97*sin(1.71*ifelse(82.03*s1 + 0.92, 9.9*s0 + 0.31, 1.79) + 2.8) + 0.12