diff --git a/src/lerobot/processor/converters.py b/src/lerobot/processor/converters.py
index 79db11a2e..7a8decb12 100644
--- a/src/lerobot/processor/converters.py
+++ b/src/lerobot/processor/converters.py
@@ -23,9 +23,9 @@ from typing import Any
 
 import numpy as np
 import torch
-from scipy.spatial.transform import Rotation
 
 from lerobot.constants import ACTION, DONE, OBS_IMAGES, OBS_STATE, REWARD, TRUNCATED
+from lerobot.utils.rotation import Rotation
 
 from .core import EnvTransition, TransitionKey
 
diff --git a/src/lerobot/teleoperators/phone/teleop_phone.py b/src/lerobot/teleoperators/phone/teleop_phone.py
index 3f6360725..f526e6398 100644
--- a/src/lerobot/teleoperators/phone/teleop_phone.py
+++ b/src/lerobot/teleoperators/phone/teleop_phone.py
@@ -24,12 +24,12 @@ import time
 
 import hebi
 import numpy as np
-from scipy.spatial.transform import Rotation
 from teleop import Teleop
 
 from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
 from lerobot.teleoperators.teleoperator import Teleoperator
+from lerobot.utils.rotation import Rotation
 
 logger = logging.getLogger(__name__)