diff --git a/gym/utils/task_registry.py b/gym/utils/task_registry.py
index f137fa20..6c2025ba 100644
--- a/gym/utils/task_registry.py
+++ b/gym/utils/task_registry.py
@@ -37,7 +37,6 @@
 from datetime import datetime
 from typing import Tuple
 
-from learning.env import VecEnv
 from learning.runners import *  # noqa: F403
 from learning.utils import set_discount_from_horizon
 
@@ -67,7 +66,7 @@ def __init__(self):
     def register(
         self,
         name: str,
-        task_class: VecEnv,
+        task_class,
         env_cfg: BaseConfig,
         train_cfg: LeggedRobotRunnerCfg,
     ):
@@ -75,7 +74,7 @@ def register(
         self.env_cfgs[name] = env_cfg
         self.train_cfgs[name] = train_cfg
 
-    def get_task_class(self, name: str) -> VecEnv:
+    def get_task_class(self, name: str):
         return self.task_classes[name]
 
     def get_cfgs(self, name) -> Tuple[LeggedRobotCfg, LeggedRobotRunnerCfg]:
@@ -217,7 +216,7 @@ def make_sim(self):
             self.sim["params"],
         )
 
-    def make_env(self, name, env_cfg) -> VecEnv:
+    def make_env(self, name, env_cfg):
         if name in self.task_classes:
             task_class = self.get_task_class(name)
         else:
diff --git a/learning/env/__init__.py b/learning/env/__init__.py
deleted file mode 100644
index 60fb029c..00000000
--- a/learning/env/__init__.py
+++ /dev/null
@@ -1,33 +0,0 @@
-# SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES.
-# All rights reserved.
-# SPDX-License-Identifier: BSD-3-Clause
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# 3. Neither the name of the copyright holder nor the names of its
-# contributors may be used to endorse or promote products derived from
-# this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
-# THE POSSIBILITY OF SUCH DAMAGE.
-#
-# Copyright (c) 2021 ETH Zurich, Nikita Rudin
-
-from .vec_env import VecEnv
diff --git a/learning/env/vec_env.py b/learning/env/vec_env.py
deleted file mode 100644
index 09ecd90d..00000000
--- a/learning/env/vec_env.py
+++ /dev/null
@@ -1,75 +0,0 @@
-# SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES.
-# All rights reserved.
-# SPDX-License-Identifier: BSD-3-Clause
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# 3. Neither the name of the copyright holder nor the names of its
-# contributors may be used to endorse or promote products derived from
-# this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
-# THE POSSIBILITY OF SUCH DAMAGE.
-#
-# Copyright (c) 2021 ETH Zurich, Nikita Rudin
-
-from abc import ABC, abstractmethod
-import torch
-from typing import Tuple, Union
-
-
-# minimal interface of the environment
-class VecEnv(ABC):
-    num_envs: int
-    num_obs: int
-    num_privileged_obs: int
-    num_actions: int
-    max_episode_length: int
-    privileged_obs_buf: torch.Tensor
-    obs_buf: torch.Tensor
-    rew_buf: torch.Tensor
-    reset_buf: torch.Tensor
-    episode_length_buf: torch.Tensor  # current episode duration
-    extras: dict
-    device: torch.device
-
-    @abstractmethod
-    def step(
-        self, actions: torch.Tensor
-    ) -> Tuple[
-        torch.Tensor,
-        Union[torch.Tensor, None],
-        torch.Tensor,
-        torch.Tensor,
-        dict,
-    ]:
-        pass
-
-    @abstractmethod
-    def reset(self, env_ids: Union[list, torch.Tensor]):
-        pass
-
-    @abstractmethod
-    def get_observations(self) -> torch.Tensor:
-        pass
-
-    @abstractmethod
-    def get_privileged_observations(self) -> Union[torch.Tensor, None]:
-        pass
diff --git a/learning/runners/BaseRunner.py b/learning/runners/BaseRunner.py
index 627ba58f..c0462853 100644
--- a/learning/runners/BaseRunner.py
+++ b/learning/runners/BaseRunner.py
@@ -1,12 +1,11 @@
 import torch
 from learning.algorithms import PPO
 from learning.modules import ActorCritic
-from learning.env import VecEnv
 from learning.utils import remove_zero_weighted_rewards
 
 
 class BaseRunner:
-    def __init__(self, env: VecEnv, train_cfg, device="cpu"):
+    def __init__(self, env, train_cfg, device="cpu"):
         self.device = device
         self.env = env
         self.parse_train_cfg(train_cfg)
diff --git a/learning/runners/my_runner.py b/learning/runners/my_runner.py
index 74b842d4..e555b525 100644
--- a/learning/runners/my_runner.py
+++ b/learning/runners/my_runner.py
@@ -1,5 +1,4 @@
 import torch
-from learning.env import VecEnv
 
 from learning.utils import Logger
 from learning.utils import PotentialBasedRewardShaping
@@ -11,7 +10,7 @@
 
 
 class MyRunner(OnPolicyRunner):
-    def __init__(self, env: VecEnv, train_cfg, device="cpu"):
+    def __init__(self, env, train_cfg, device="cpu"):
         super().__init__(env, train_cfg, device)
         logger.initialize(
             self.env.num_envs,
diff --git a/learning/runners/on_policy_runner.py b/learning/runners/on_policy_runner.py
index 9820d749..e2fb524e 100644
--- a/learning/runners/on_policy_runner.py
+++ b/learning/runners/on_policy_runner.py
@@ -1,6 +1,5 @@
 import os
 import torch
-from learning.env import VecEnv
 
 from learning.utils import Logger
 
@@ -10,7 +9,7 @@
 
 
 class OnPolicyRunner(BaseRunner):
-    def __init__(self, env: VecEnv, train_cfg, device="cpu"):
+    def __init__(self, env, train_cfg, device="cpu"):
         super().__init__(env, train_cfg, device)
         logger.initialize(
             self.env.num_envs,