diff --git a/src/rl_sar/library/rl_sdk/rl_sdk.cpp b/src/rl_sar/library/rl_sdk/rl_sdk.cpp
index c374f71..9529b2b 100644
--- a/src/rl_sar/library/rl_sdk/rl_sdk.cpp
+++ b/src/rl_sar/library/rl_sdk/rl_sdk.cpp
@@ -382,7 +382,6 @@ void RL::ReadYaml(std::string robot_name)
         config = YAML::LoadFile(config_path)[robot_name];
     } catch(YAML::BadFile &e)
     {
-
         std::cout << LOGGER::ERROR << "The file '" << config_path << "' does not exist" << std::endl;
         return;
     }
@@ -397,16 +396,16 @@ void RL::ReadYaml(std::string robot_name)
     this->params.num_observations = config["num_observations"].as<int>();
     this->params.observations = ReadVectorFromYaml<std::string>(config["observations"]);
     this->params.clip_obs = config["clip_obs"].as<double>();
-    if(config["clip_actions_lower"] && config["clip_actions_upper"])
-    {
-        this->params.clip_actions_upper = torch::tensor(ReadVectorFromYaml<double>(config["clip_actions_upper"], this->params.framework, rows, cols)).view({1, -1});
-        this->params.clip_actions_lower = torch::tensor(ReadVectorFromYaml<double>(config["clip_actions_lower"], this->params.framework, rows, cols)).view({1, -1});
-    }
-    else
+    if(config["clip_actions_lower"].IsNull() && config["clip_actions_upper"].IsNull())
     {
         this->params.clip_actions_upper = torch::tensor({}).view({1, -1});
         this->params.clip_actions_lower = torch::tensor({}).view({1, -1});
     }
+    else
+    {
+        this->params.clip_actions_upper = torch::tensor(ReadVectorFromYaml<double>(config["clip_actions_upper"], this->params.framework, rows, cols)).view({1, -1});
+        this->params.clip_actions_lower = torch::tensor(ReadVectorFromYaml<double>(config["clip_actions_lower"], this->params.framework, rows, cols)).view({1, -1});
+    }
     this->params.action_scale = config["action_scale"].as<double>();
     this->params.hip_scale_reduction = config["hip_scale_reduction"].as<double>();
     this->params.hip_scale_reduction_indices = ReadVectorFromYaml<int>(config["hip_scale_reduction_indices"]);
diff --git a/src/rl_sar/scripts/rl_sdk.py b/src/rl_sar/scripts/rl_sdk.py
index bfa4946..938fc5e 100644
--- a/src/rl_sar/scripts/rl_sdk.py
+++ b/src/rl_sar/scripts/rl_sdk.py
@@ -387,12 +387,12 @@ class RL:
         self.params.action_scale = config["action_scale"]
         self.params.hip_scale_reduction = config["hip_scale_reduction"]
         self.params.hip_scale_reduction_indices = config["hip_scale_reduction_indices"]
-        if config["clip_actions_upper"] and config["clip_actions_upper"]:
-            self.params.clip_actions_upper = torch.tensor(self.ReadVectorFromYaml(config["clip_actions_upper"], self.params.framework, rows, cols)).view(1, -1)
-            self.params.clip_actions_lower = torch.tensor(self.ReadVectorFromYaml(config["clip_actions_lower"], self.params.framework, rows, cols)).view(1, -1)
-        else:
+        if config["clip_actions_upper"] is None and config["clip_actions_upper"] is None:
             self.params.clip_actions_upper = None
             self.params.clip_actions_lower = None
+        else:
+            self.params.clip_actions_upper = torch.tensor(self.ReadVectorFromYaml(config["clip_actions_upper"], self.params.framework, rows, cols)).view(1, -1)
+            self.params.clip_actions_lower = torch.tensor(self.ReadVectorFromYaml(config["clip_actions_lower"], self.params.framework, rows, cols)).view(1, -1)
         self.params.num_of_dofs = config["num_of_dofs"]
         self.params.lin_vel_scale = config["lin_vel_scale"]
         self.params.ang_vel_scale = config["ang_vel_scale"]