diff --git a/sim/envs/humanoids/gpr_config.py b/sim/envs/humanoids/gpr_config.py
index 8099328d..506591b6 100644
--- a/sim/envs/humanoids/gpr_config.py
+++ b/sim/envs/humanoids/gpr_config.py
@@ -6,6 +6,8 @@
     LeggedRobotCfgPPO,
 )
 from sim.resources.gpr.joints import Robot
+from kinfer import proto as P
+
 
 NUM_JOINTS = len(Robot.all_joints())
 
@@ -26,8 +28,6 @@ class env(LeggedRobotCfg.env):
         episode_length_s = 24  # episode length in seconds
         use_ref_actions = False
 
-        from kinfer import proto as P
-
         input_schema = P.IOSchema(
             values=[
                 P.ValueSchema(
diff --git a/sim/sim2sim.py b/sim/sim2sim.py
index c737521b..a32515e5 100755
--- a/sim/sim2sim.py
+++ b/sim/sim2sim.py
@@ -393,7 +393,7 @@ def run_mujoco(
     metadata = policy.attached_metadata
 
     joint_names = []
-    for value_schema in policy.input_schema.values + policy.output_schema.values:
+    for value_schema in policy.input_schema.values:
         if value_schema.HasField("joint_positions"):
             joint_names = list(value_schema.joint_positions.joint_names)
             break