refactor(types): change module name

Co-authored-by: saiteja6006 <saiteja6006@gmail.com>

tests/mocks/mock_robot.py

@@ -19,9 +19,9 @@ from dataclasses import dataclass, field
 from functools import cached_property
 
 from lerobot.cameras import CameraConfig, make_cameras_from_configs
+from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.motors.motors_bus import Motor, MotorNormMode
 from lerobot.robots import Robot, RobotConfig
-from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
 from tests.mocks.mock_motors_bus import MockMotorsBus
 

tests/mocks/mock_teleop.py

@@ -19,8 +19,8 @@ from dataclasses import dataclass
 from functools import cached_property
 from typing import Any
 
+from lerobot.lerobot_types import RobotAction
 from lerobot.teleoperators import Teleoperator, TeleoperatorConfig
-from lerobot.types import RobotAction
 from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
 
 

tests/policies/groot/test_groot_lerobot.py

@@ -27,11 +27,11 @@ import torch
 
 pytest.importorskip("transformers", reason="groot requires the `groot` extra (transformers)")
 
+from lerobot.lerobot_types import PolicyAction
 from lerobot.policies.groot.configuration_groot import GrootConfig
 from lerobot.policies.groot.modeling_groot import GrootPolicy
 from lerobot.policies.groot.processor_groot import make_groot_pre_post_processors
 from lerobot.processor import PolicyProcessorPipeline
-from lerobot.types import PolicyAction
 from lerobot.utils.device_utils import auto_select_torch_device
 from tests.utils import require_cuda
 

tests/policies/groot/test_groot_n1_7.py

@@ -27,6 +27,7 @@ from safetensors.torch import load_file
 from torch import nn
 
 from lerobot.configs import FeatureType, PolicyFeature
+from lerobot.lerobot_types import TransitionKey
 from lerobot.policies.factory import make_policy_config, make_pre_post_processors
 from lerobot.policies.groot.configuration_groot import (
     GROOT_ACTION_DECODE_TRANSFORM_LIBERO,
@@ -54,7 +55,6 @@ from lerobot.processor import (
     PolicyProcessorPipeline,
     RelativeActionsProcessorStep,
 )
-from lerobot.types import TransitionKey
 from lerobot.utils.constants import ACTION, OBS_IMAGES, OBS_STATE
 
 

tests/policies/groot/test_groot_n1_7_oss_parity.py

@@ -22,6 +22,7 @@ import numpy as np
 import pytest
 import torch
 
+from lerobot.lerobot_types import TransitionKey
 from lerobot.policies.groot.action_head.cross_attention_dit import AlternateVLDiT
 from lerobot.policies.groot.groot_n1_7 import GR00TN17
 from lerobot.policies.groot.processor_groot import (
@@ -30,7 +31,6 @@ from lerobot.policies.groot.processor_groot import (
     GrootN17VLMEncodeStep,
     _transform_n1_7_image_for_vlm_albumentations,
 )
-from lerobot.types import TransitionKey
 from lerobot.utils.constants import OBS_STATE
 
 OSS_REFERENCE_COMMIT = "ab88b50c718f6528e1df9dcbaf75865d1b604760"

tests/policies/groot/test_groot_state_dropout.py

@@ -24,8 +24,8 @@ regularization never activated. These tests pin the train/eval split.
 
 import torch
 
+from lerobot.lerobot_types import TransitionKey
 from lerobot.policies.groot.processor_groot import GrootN17PackInputsStep
-from lerobot.types import TransitionKey
 from lerobot.utils.constants import OBS_STATE
 
 

tests/policies/molmoact2/test_molmoact2.py

@@ -31,6 +31,7 @@ pytest.importorskip("transformers")
 pytest.importorskip("scipy")
 
 from lerobot.configs import FeatureType, NormalizationMode, PolicyFeature
+from lerobot.lerobot_types import TransitionKey
 from lerobot.policies import get_policy_class, make_policy_config
 from lerobot.policies.molmoact2 import (
     modeling_molmoact2 as molmoact2_modeling,
@@ -57,7 +58,6 @@ from lerobot.policies.molmoact2.processor_molmoact2 import (
     make_molmoact2_pre_post_processors,
 )
 from lerobot.policies.rtc.configuration_rtc import RTCConfig
-from lerobot.types import TransitionKey
 from lerobot.utils.constants import ACTION, OBS_STATE
 
 

tests/policies/pi0_fast/test_pi0_fast_original_vs_lerobot.py

@@ -28,11 +28,11 @@ import torch
 pytest.importorskip("transformers")
 pytest.importorskip("scipy")
 
+from lerobot.lerobot_types import PolicyAction  # noqa: E402
 from lerobot.policies.pi0_fast.configuration_pi0_fast import PI0FastConfig
 from lerobot.policies.pi0_fast.modeling_pi0_fast import PI0FastPolicy
 from lerobot.policies.pi0_fast.processor_pi0_fast import make_pi0_fast_pre_post_processors
 from lerobot.processor import PolicyProcessorPipeline  # noqa: E402
-from lerobot.types import PolicyAction  # noqa: E402
 from lerobot.utils.constants import (
     ACTION_TOKEN_MASK,
     ACTION_TOKENS,

tests/policies/xvla/test_xvla_original_vs_lerobot.py

@@ -27,11 +27,11 @@ import torch
 
 pytest.importorskip("transformers")
 
+from lerobot.lerobot_types import PolicyAction  # noqa: E402
 from lerobot.policies.xvla.configuration_xvla import XVLAConfig
 from lerobot.policies.xvla.modeling_xvla import XVLAPolicy
 from lerobot.policies.xvla.processor_xvla import make_xvla_pre_post_processors
 from lerobot.processor import PolicyProcessorPipeline  # noqa: E402
-from lerobot.types import PolicyAction  # noqa: E402
 from lerobot.utils.constants import OBS_IMAGES, OBS_STATE  # noqa: E402
 from tests.utils import require_cuda  # noqa: E402
 

tests/processor/test_batch_conversion.py

@@ -16,9 +16,9 @@
 
 import torch
 
+from lerobot.lerobot_types import TransitionKey
 from lerobot.processor import DataProcessorPipeline
 from lerobot.processor.converters import batch_to_transition, transition_to_batch
-from lerobot.types import TransitionKey
 from lerobot.utils.constants import ACTION, DONE, OBS_IMAGE, OBS_PREFIX, OBS_STATE, REWARD, TRUNCATED
 
 

tests/processor/test_converters.py

@@ -18,13 +18,13 @@ import numpy as np
 import pytest
 import torch
 
+from lerobot.lerobot_types import TransitionKey
 from lerobot.processor.converters import (
     batch_to_transition,
     create_transition,
     to_tensor,
     transition_to_batch,
 )
-from lerobot.types import TransitionKey
 from lerobot.utils.constants import ACTION, DONE, OBS_STATE, OBS_STR, REWARD
 
 

tests/processor/test_device_processor.py

@@ -19,9 +19,9 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, PipelineFeatureType, PolicyFeature
+from lerobot.lerobot_types import TransitionKey
 from lerobot.processor import DataProcessorPipeline, DeviceProcessorStep
 from lerobot.processor.converters import create_transition, identity_transition
-from lerobot.types import TransitionKey
 from lerobot.utils.constants import ACTION, OBS_IMAGE, OBS_STATE
 
 

tests/processor/test_observation_processor.py

@@ -19,9 +19,9 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, PipelineFeatureType
+from lerobot.lerobot_types import TransitionKey
 from lerobot.processor import VanillaObservationProcessorStep
 from lerobot.processor.converters import create_transition
-from lerobot.types import TransitionKey
 from lerobot.utils.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
 from tests.conftest import assert_contract_is_typed
 

tests/processor/test_pipeline_from_pretrained_helpers.py

@@ -30,13 +30,13 @@ import torch
 from safetensors.torch import save_file
 
 from lerobot.configs import PipelineFeatureType, PolicyFeature
+from lerobot.lerobot_types import EnvTransition
 from lerobot.processor.pipeline import (
     DataProcessorPipeline,
     ProcessorMigrationError,
     ProcessorStep,
     ProcessorStepRegistry,
 )
-from lerobot.types import EnvTransition
 
 # Simplified Config Loading Tests
 

tests/processor/test_render_messages_processor.py

@@ -7,9 +7,9 @@ pytest.importorskip("datasets", reason="datasets is required (install lerobot[da
 import torch  # noqa: E402
 
 from lerobot.configs.recipe import MessageTurn, TrainingRecipe  # noqa: E402
+from lerobot.lerobot_types import TransitionKey  # noqa: E402
 from lerobot.processor.converters import create_transition  # noqa: E402
 from lerobot.processor.render_messages_processor import RenderMessagesStep  # noqa: E402
-from lerobot.types import TransitionKey  # noqa: E402
 
 
 def test_render_messages_step_noops_without_language_columns():

tests/processor/test_tokenizer_processor.py

@@ -25,9 +25,9 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, PipelineFeatureType, PolicyFeature
+from lerobot.lerobot_types import TransitionKey
 from lerobot.processor import DataProcessorPipeline, TokenizerProcessorStep
 from lerobot.processor.converters import create_transition, identity_transition
-from lerobot.types import TransitionKey
 from lerobot.utils.constants import (
     ACTION,
     OBS_IMAGE,

tests/rewards/test_sarm_processor.py

@@ -25,7 +25,7 @@ import pandas as pd
 import pytest
 import torch
 
-from lerobot.types import TransitionKey
+from lerobot.lerobot_types import TransitionKey
 
 
 class MockDatasetMeta:

tests/rewards/test_topreward_processor.py

@@ -20,13 +20,13 @@ import pytest
 import torch
 
 from lerobot.configs import FeatureType, PipelineFeatureType, PolicyFeature
+from lerobot.lerobot_types import TransitionKey
 from lerobot.rewards.topreward.processor_topreward import (
     TOPREWARD_FEATURE_PREFIX,
     TOPREWARD_INPUT_KEYS,
     _expand_tasks,
     _prepare_video_batch,
 )
-from lerobot.types import TransitionKey
 from tests.utils import skip_if_package_missing
 
 # ---------------------------------------------------------------------------

tests/test_package_imports.py

@@ -0,0 +1,37 @@
+#!/usr/bin/env python
+
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import subprocess
+import sys
+from pathlib import Path
+
+
+def test_lerobot_package_directory_does_not_shadow_stdlib_types():
+    package_dir = Path(__file__).parents[1] / "src" / "lerobot"
+    command = (
+        "from types import DynamicClassAttribute, MappingProxyType; "
+        "from lerobot.lerobot_types import RobotAction"
+    )
+
+    result = subprocess.run(
+        [sys.executable, "-c", command],
+        cwd=package_dir,
+        capture_output=True,
+        text=True,
+        check=False,
+    )
+
+    assert result.returncode == 0, result.stderr

tests/utils/test_rerun_visualization.py

@@ -23,7 +23,7 @@ import pytest
 
 pytest.importorskip("rerun", reason="rerun-sdk is required (install lerobot[viz])")
 
-from lerobot.types import TransitionKey
+from lerobot.lerobot_types import TransitionKey
 from lerobot.utils.constants import OBS_STATE