From 64aa78cd65038cdd368e25ccebdf35320d0080fc Mon Sep 17 00:00:00 2001
From: Octi Zhang <zhengyuz@nvidia.com>
Date: Thu, 26 Feb 2026 23:28:29 -0800
Subject: [PATCH 1/9] fix redundant string to callable

---
 source/isaaclab/isaaclab/utils/configclass.py  | 15 ++++++++++++---
 source/isaaclab/isaaclab/utils/dict.py         |  9 +++++----
 source/isaaclab/test/utils/test_configclass.py |  2 +-
 3 files changed, 18 insertions(+), 8 deletions(-)

diff --git a/source/isaaclab/isaaclab/utils/configclass.py b/source/isaaclab/isaaclab/utils/configclass.py
index 588e8234b578..cce899fce38b 100644
--- a/source/isaaclab/isaaclab/utils/configclass.py
+++ b/source/isaaclab/isaaclab/utils/configclass.py
@@ -217,11 +217,20 @@ def _wrap_resolvable_strings(value: Any, module_dir: str | None = None) -> Any:
             value = value.replace("{DIR}", module_dir)
         return ResolvableString(value)
     if isinstance(value, list):
-        return [_wrap_resolvable_strings(item, module_dir=module_dir) for item in value]
+        wrapped = [_wrap_resolvable_strings(item, module_dir=module_dir) for item in value]
+        if len(wrapped) == len(value) and all(new_item is old_item for new_item, old_item in zip(wrapped, value)):
+            return value
+        return wrapped
     if isinstance(value, tuple):
-        return tuple(_wrap_resolvable_strings(item, module_dir=module_dir) for item in value)
+        wrapped = tuple(_wrap_resolvable_strings(item, module_dir=module_dir) for item in value)
+        if len(wrapped) == len(value) and all(new_item is old_item for new_item, old_item in zip(wrapped, value)):
+            return value
+        return wrapped
     if isinstance(value, dict):
-        return {key: _wrap_resolvable_strings(item, module_dir=module_dir) for key, item in value.items()}
+        wrapped = {key: _wrap_resolvable_strings(item, module_dir=module_dir) for key, item in value.items()}
+        if len(wrapped) == len(value) and all(wrapped[key] is value[key] for key in value):
+            return value
+        return wrapped
     if hasattr(value, "__dataclass_fields__") and hasattr(value, "__dict__"):
         for key, item in value.__dict__.items():
             nested_module_dir = _field_module_dir(value, key)
diff --git a/source/isaaclab/isaaclab/utils/dict.py b/source/isaaclab/isaaclab/utils/dict.py
index b80bcde6351e..6994a2b12b95 100644
--- a/source/isaaclab/isaaclab/utils/dict.py
+++ b/source/isaaclab/isaaclab/utils/dict.py
@@ -146,10 +146,11 @@ def update_class_from_dict(obj, data: dict[str, Any], _ns: str = "") -> None:
 
             # -- 3) callable attribute → keep string lazily resolvable --------------
             elif callable(obj_mem):
-                # Do not eagerly import backend modules while applying config dictionaries.
-                # Keep callable strings lazy; they resolve only when actually invoked.
-                if isinstance(value, str) and not isinstance(value, ResolvableString):
-                    value = ResolvableString(value)
+                if isinstance(value, str):
+                    if not isinstance(value, ResolvableString):
+                        value = ResolvableString(value)
+                elif isinstance(value, ResolvableString):
+                    pass
                 elif not callable(value):
                     raise ValueError(
                         f"[Config]: Incorrect type under namespace: {key_ns}."
diff --git a/source/isaaclab/test/utils/test_configclass.py b/source/isaaclab/test/utils/test_configclass.py
index 7ed90787b378..10f1a13b02fc 100644
--- a/source/isaaclab/test/utils/test_configclass.py
+++ b/source/isaaclab/test/utils/test_configclass.py
@@ -447,7 +447,7 @@ class MissingChildDemoCfg(MissingParentDemoCfg):
 
 basic_demo_cfg_nested_dict_and_list = {
     "dict_1": {
-        "dict_2": {"func": dummy_function2},
+        "dict_2": {"func": "test_configclass:dummy_function2"},
     },
     "list_1": [
         {"num_envs": 23, "episode_length": 3000, "viewer": {"eye": [5.0, 5.0, 5.0], "lookat": [0.0, 0.0, 0.0]}},

From 1b1301708f421f54df8e774148a7283b550de36c Mon Sep 17 00:00:00 2001
From: Octi Zhang <zhengyuz@nvidia.com>
Date: Thu, 26 Feb 2026 23:31:43 -0800
Subject: [PATCH 2/9] fix callable

---
 source/isaaclab/docs/CHANGELOG.rst | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst
index 507f9ba07a2d..f6b9d28839da 100644
--- a/source/isaaclab/docs/CHANGELOG.rst
+++ b/source/isaaclab/docs/CHANGELOG.rst
@@ -57,6 +57,10 @@ Changed
   for config defaults. ``"{DIR}.module:Symbol"`` now expands to the declaring config
   module directory before resolution.
 
+* Updated :func:`~isaaclab.utils.dict.update_class_from_dict` to stop eagerly resolving
+  callable strings during updates. Callable-string inputs are now preserved as lazy
+  :class:`~isaaclab.utils.string.ResolvableString` values and resolve only on first use.
+
 
 4.2.2 (2026-02-26)
 ~~~~~~~~~~~~~~~~~~

From 7e04c434befbe5278abc5f5d47fabf5fa3746129 Mon Sep 17 00:00:00 2001
From: Octi Zhang <zhengyuz@nvidia.com>
Date: Thu, 26 Feb 2026 23:33:18 -0800
Subject: [PATCH 3/9] fix redundancy

---
 source/isaaclab/isaaclab/utils/dict.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/source/isaaclab/isaaclab/utils/dict.py b/source/isaaclab/isaaclab/utils/dict.py
index 6994a2b12b95..6036931234e9 100644
--- a/source/isaaclab/isaaclab/utils/dict.py
+++ b/source/isaaclab/isaaclab/utils/dict.py
@@ -149,8 +149,6 @@ def update_class_from_dict(obj, data: dict[str, Any], _ns: str = "") -> None:
                 if isinstance(value, str):
                     if not isinstance(value, ResolvableString):
                         value = ResolvableString(value)
-                elif isinstance(value, ResolvableString):
-                    pass
                 elif not callable(value):
                     raise ValueError(
                         f"[Config]: Incorrect type under namespace: {key_ns}."

From 23c5986c2a3f431ffcfeb98bf63e0998c7bd9c1d Mon Sep 17 00:00:00 2001
From: Octi Zhang <zhengyuz@nvidia.com>
Date: Fri, 27 Feb 2026 02:47:22 -0800
Subject: [PATCH 4/9] fix revert bug

---
 source/isaaclab/test/utils/test_dict.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/source/isaaclab/test/utils/test_dict.py b/source/isaaclab/test/utils/test_dict.py
index 2632bf5f55e9..464a26d878ed 100644
--- a/source/isaaclab/test/utils/test_dict.py
+++ b/source/isaaclab/test/utils/test_dict.py
@@ -53,7 +53,7 @@ def test_string_callable_function_conversion():
     # convert function to string
     test_string = dict_utils.callable_to_string(_test_function)
     # convert string to function
-    test_function_2 = dict_utils.string_to_callable(test_string)
+    test_function_2 = string_utils.string_to_callable(test_string)
     # check that functions are the same
     assert _test_function(2) == test_function_2(2)
 
@@ -64,7 +64,7 @@ def test_string_callable_function_with_lambda_in_name_conversion():
     # convert function to string
     test_string = dict_utils.callable_to_string(_test_lambda_function)
     # convert string to function
-    test_function_2 = dict_utils.string_to_callable(test_string)
+    test_function_2 = string_utils.string_to_callable(test_string)
     # check that functions are the same
     assert _test_function(2) == test_function_2(2)
 
@@ -77,7 +77,7 @@ def test_string_callable_lambda_conversion():
     # convert function to string
     test_string = dict_utils.callable_to_string(func)
     # convert string to function
-    func_2 = dict_utils.string_to_callable(test_string)
+    func_2 = string_utils.string_to_callable(test_string)
     # check that functions are the same
     assert test_string == "lambda x: x**2"
     assert func(2) == func_2(2)

From 592865c5e48d23737fd714632eb1edcf847b7460 Mon Sep 17 00:00:00 2001
From: Octi Zhang <zhengyuz@nvidia.com>
Date: Fri, 27 Feb 2026 04:30:01 -0800
Subject: [PATCH 5/9] fix bug

---
 source/isaaclab/isaaclab/utils/configclass.py | 23 ++++++++++++++-----
 1 file changed, 17 insertions(+), 6 deletions(-)

diff --git a/source/isaaclab/isaaclab/utils/configclass.py b/source/isaaclab/isaaclab/utils/configclass.py
index cce899fce38b..1878a35f2f2e 100644
--- a/source/isaaclab/isaaclab/utils/configclass.py
+++ b/source/isaaclab/isaaclab/utils/configclass.py
@@ -208,7 +208,7 @@ def _field_module_dir(obj: Any, key: str | None = None) -> str | None:
     return module_name.rsplit(".", 1)[0] if "." in module_name else (module_name or None)
 
 
-def _wrap_resolvable_strings(value: Any, module_dir: str | None = None) -> Any:
+def _wrap_resolvable_strings(value: Any, module_dir: str | None = None, _seen: set[int] | None = None) -> Any:
     """Recursively wrap callable-like strings with :class:`ResolvableString`."""
     if isinstance(value, str) and (_CALLABLE_STR_RE.match(value) or _CALLABLE_STR_WITH_DIR_RE.match(value)):
         if "{DIR}" in value:
@@ -216,25 +216,36 @@ def _wrap_resolvable_strings(value: Any, module_dir: str | None = None) -> Any:
                 raise ValueError(f"Cannot resolve '{{DIR}}' in '{value}' because no module context is available.")
             value = value.replace("{DIR}", module_dir)
         return ResolvableString(value)
+    is_dataclass_instance = hasattr(value, "__dataclass_fields__") and hasattr(value, "__dict__")
+    is_container = isinstance(value, (list, tuple, dict))
+    if is_dataclass_instance or is_container:
+        if _seen is None:
+            _seen = set()
+        value_id = id(value)
+        if value_id in _seen:
+            return value
+        _seen.add(value_id)
     if isinstance(value, list):
-        wrapped = [_wrap_resolvable_strings(item, module_dir=module_dir) for item in value]
+        wrapped = [_wrap_resolvable_strings(item, module_dir=module_dir, _seen=_seen) for item in value]
         if len(wrapped) == len(value) and all(new_item is old_item for new_item, old_item in zip(wrapped, value)):
             return value
         return wrapped
     if isinstance(value, tuple):
-        wrapped = tuple(_wrap_resolvable_strings(item, module_dir=module_dir) for item in value)
+        wrapped = tuple(_wrap_resolvable_strings(item, module_dir=module_dir, _seen=_seen) for item in value)
         if len(wrapped) == len(value) and all(new_item is old_item for new_item, old_item in zip(wrapped, value)):
             return value
         return wrapped
     if isinstance(value, dict):
-        wrapped = {key: _wrap_resolvable_strings(item, module_dir=module_dir) for key, item in value.items()}
+        wrapped = {
+            key: _wrap_resolvable_strings(item, module_dir=module_dir, _seen=_seen) for key, item in value.items()
+        }
         if len(wrapped) == len(value) and all(wrapped[key] is value[key] for key in value):
             return value
         return wrapped
-    if hasattr(value, "__dataclass_fields__") and hasattr(value, "__dict__"):
+    if is_dataclass_instance:
         for key, item in value.__dict__.items():
             nested_module_dir = _field_module_dir(value, key)
-            setattr(value, key, _wrap_resolvable_strings(item, module_dir=nested_module_dir))
+            setattr(value, key, _wrap_resolvable_strings(item, module_dir=nested_module_dir, _seen=_seen))
     return value
 
 

From 8e5b9343be25bca435abcdcf40a1e95e550b6124 Mon Sep 17 00:00:00 2001
From: Octi Zhang <zhengyuz@nvidia.com>
Date: Fri, 27 Feb 2026 04:37:15 -0800
Subject: [PATCH 6/9] fix bug

---
 .../isaaclab/test/utils/test_configclass.py   | 42 +++++++++++++++++++
 1 file changed, 42 insertions(+)

diff --git a/source/isaaclab/test/utils/test_configclass.py b/source/isaaclab/test/utils/test_configclass.py
index 10f1a13b02fc..eb36cde3546e 100644
--- a/source/isaaclab/test/utils/test_configclass.py
+++ b/source/isaaclab/test/utils/test_configclass.py
@@ -29,6 +29,7 @@
 from isaaclab.utils.configclass import configclass
 from isaaclab.utils.dict import class_to_dict, dict_to_md5_hash, update_class_from_dict
 from isaaclab.utils.io import dump_yaml, load_yaml
+from isaaclab.utils.string import ResolvableString
 
 """
 Mock classes and functions.
@@ -643,6 +644,47 @@ def test_config_update_nested_dict():
     assert isinstance(cfg.list_1[1].viewer, ViewerCfg)
 
 
+def test_wrap_resolvable_strings_handles_cyclic_containers():
+    """Cyclic container graphs in config values should not recurse forever."""
+
+    @configclass
+    class CyclicContainerCfg:
+        payload: dict[str, Any] = field(default_factory=dict)
+
+        def __post_init__(self):
+            cycle = {}
+            cycle["self"] = cycle
+            cycle["tuple"] = (cycle, {"back": cycle})
+            self.payload = cycle
+
+    cfg = CyclicContainerCfg()
+
+    assert cfg.payload["self"] is cfg.payload
+    assert cfg.payload["tuple"][0] is cfg.payload
+    assert cfg.payload["tuple"][1]["back"] is cfg.payload
+
+
+def test_dir_resolution_uses_declaring_class_for_inherited_field():
+    """{DIR} expansion should use the field declaring class, not subclass module."""
+
+    @configclass
+    class _BaseCfg:
+        class_type: type | str = "{DIR}.base_mod:BaseSymbol"
+
+    @configclass
+    class _ChildCfg(_BaseCfg):
+        pass
+
+    # Simulate subclass declared in a different package than the parent config.
+    _BaseCfg.__module__ = "test_pkg.parent.base_cfg"
+    _ChildCfg.__module__ = "other_pkg.child.child_cfg"
+
+    cfg = _ChildCfg()
+
+    assert isinstance(cfg.class_type, ResolvableString)
+    assert str(cfg.class_type) == "test_pkg.parent.base_mod:BaseSymbol"
+
+
 def test_config_update_different_iterable_lengths():
     """Iterables are whole replaced, even if their lengths are different."""
 

From ac529bc24852277833bdce441bf9fc6eeb776ee4 Mon Sep 17 00:00:00 2001
From: Antoine Richard <antoiner@nvidia.com>
Date: Fri, 27 Feb 2026 13:40:04 +0100
Subject: [PATCH 7/9] added test to validate {DIR} resolution

---
 .../isaaclab/test/utils/test_configclass.py   | 28 ++++++++++++++++++-
 1 file changed, 27 insertions(+), 1 deletion(-)

diff --git a/source/isaaclab/test/utils/test_configclass.py b/source/isaaclab/test/utils/test_configclass.py
index eb36cde3546e..716c834cc3e1 100644
--- a/source/isaaclab/test/utils/test_configclass.py
+++ b/source/isaaclab/test/utils/test_configclass.py
@@ -26,7 +26,7 @@
 import pytest
 import torch
 
-from isaaclab.utils.configclass import configclass
+from isaaclab.utils.configclass import _field_module_dir, configclass
 from isaaclab.utils.dict import class_to_dict, dict_to_md5_hash, update_class_from_dict
 from isaaclab.utils.io import dump_yaml, load_yaml
 from isaaclab.utils.string import ResolvableString
@@ -1119,3 +1119,29 @@ def test_validity():
 
     # check that no more than the expected missing fields are in the error message
     assert len(error_message.split("\n")) - 2 == len(validity_expected_fields)
+
+
+def test_dir_resolution_in_subclass():
+    """Test that {DIR} in inherited fields resolves relative to the declaring class's module."""
+
+    @configclass
+    class ParentCfg:
+        class_type: str = "{DIR}.my_module:MyClass"
+        name: str = "default"
+
+    @configclass
+    class ChildCfg(ParentCfg):
+        extra: int = 42
+
+    # Pretend the parent lives in a real package and the child lives in a test file
+    ParentCfg.__module__ = "some_package.sub_package.parent_cfg"
+    ChildCfg.__module__ = "test_some_feature"
+
+    parent = ParentCfg.__new__(ParentCfg)
+    child = ChildCfg.__new__(ChildCfg)
+
+    # class_type should resolve to the parent's module dir in both cases
+    assert _field_module_dir(parent, "class_type") == "some_package.sub_package"
+    assert _field_module_dir(child, "class_type") == "some_package.sub_package"
+    # extra should resolve to the child's module dir
+    assert _field_module_dir(child, "extra") == "test_some_feature"

From fbb393c59eb314b5a7e4d880b8d8aac5aa754b45 Mon Sep 17 00:00:00 2001
From: Octi Zhang <zhengyuz@nvidia.com>
Date: Fri, 27 Feb 2026 13:11:53 -0800
Subject: [PATCH 8/9] fixs is subclassing issue in resolvable string

---
 source/isaaclab/isaaclab/devices/device_base.py            | 7 ++++---
 .../isaaclab/isaaclab/devices/gamepad/se2_gamepad_cfg.py   | 5 +++--
 .../isaaclab/isaaclab/devices/gamepad/se3_gamepad_cfg.py   | 5 +++--
 source/isaaclab/isaaclab/devices/haply/se3_haply.py        | 4 ++--
 .../isaaclab/isaaclab/devices/keyboard/se2_keyboard_cfg.py | 5 +++--
 .../isaaclab/isaaclab/devices/keyboard/se3_keyboard_cfg.py | 5 +++--
 source/isaaclab/isaaclab/devices/retargeter_base.py        | 4 ++--
 .../isaaclab/devices/spacemouse/se2_spacemouse_cfg.py      | 5 +++--
 .../isaaclab/devices/spacemouse/se3_spacemouse_cfg.py      | 5 +++--
 .../isaaclab_teleop/deprecated/teleop_device_factory.py    | 3 ++-
 10 files changed, 28 insertions(+), 20 deletions(-)

diff --git a/source/isaaclab/isaaclab/devices/device_base.py b/source/isaaclab/isaaclab/devices/device_base.py
index edc75797d732..00c7100ab523 100644
--- a/source/isaaclab/isaaclab/devices/device_base.py
+++ b/source/isaaclab/isaaclab/devices/device_base.py
@@ -9,16 +9,17 @@
 
 from abc import ABC, abstractmethod
 from collections.abc import Callable
-from dataclasses import dataclass, field
+from dataclasses import field
 from enum import Enum
 from typing import Any
 
 import torch
 
 from isaaclab.devices.retargeter_base import RetargeterBase, RetargeterCfg
+from isaaclab.utils import configclass
 
 
-@dataclass
+@configclass
 class DeviceCfg:
     """Configuration for teleoperation devices."""
 
@@ -32,7 +33,7 @@ class DeviceCfg:
     class_type: type[DeviceBase] | None = None
 
 
-@dataclass
+@configclass
 class DevicesCfg:
     """Configuration for all supported teleoperation devices."""
 
diff --git a/source/isaaclab/isaaclab/devices/gamepad/se2_gamepad_cfg.py b/source/isaaclab/isaaclab/devices/gamepad/se2_gamepad_cfg.py
index 32bd60dea52c..fc4239538070 100644
--- a/source/isaaclab/isaaclab/devices/gamepad/se2_gamepad_cfg.py
+++ b/source/isaaclab/isaaclab/devices/gamepad/se2_gamepad_cfg.py
@@ -7,16 +7,17 @@
 
 from __future__ import annotations
 
-from dataclasses import dataclass
 from typing import TYPE_CHECKING
 
+from isaaclab.utils import configclass
+
 from ..device_base import DeviceCfg
 
 if TYPE_CHECKING:
     from .se2_gamepad import Se2Gamepad
 
 
-@dataclass
+@configclass
 class Se2GamepadCfg(DeviceCfg):
     """Configuration for SE2 gamepad devices."""
 
diff --git a/source/isaaclab/isaaclab/devices/gamepad/se3_gamepad_cfg.py b/source/isaaclab/isaaclab/devices/gamepad/se3_gamepad_cfg.py
index 3434a3ad1132..123105fa10dc 100644
--- a/source/isaaclab/isaaclab/devices/gamepad/se3_gamepad_cfg.py
+++ b/source/isaaclab/isaaclab/devices/gamepad/se3_gamepad_cfg.py
@@ -7,16 +7,17 @@
 
 from __future__ import annotations
 
-from dataclasses import dataclass
 from typing import TYPE_CHECKING
 
+from isaaclab.utils import configclass
+
 from ..device_base import DeviceCfg
 
 if TYPE_CHECKING:
     from .se3_gamepad import Se3Gamepad
 
 
-@dataclass
+@configclass
 class Se3GamepadCfg(DeviceCfg):
     """Configuration for SE3 gamepad devices."""
 
diff --git a/source/isaaclab/isaaclab/devices/haply/se3_haply.py b/source/isaaclab/isaaclab/devices/haply/se3_haply.py
index 33bce2cfa96a..371616a2f8a4 100644
--- a/source/isaaclab/isaaclab/devices/haply/se3_haply.py
+++ b/source/isaaclab/isaaclab/devices/haply/se3_haply.py
@@ -12,7 +12,7 @@
 import threading
 import time
 from collections.abc import Callable
-from dataclasses import dataclass
+from isaaclab.utils import configclass
 
 import numpy as np
 import torch
@@ -377,7 +377,7 @@ async def _websocket_loop(self):
                     break
 
 
-@dataclass
+@configclass
 class HaplyDeviceCfg(DeviceCfg):
     """Configuration for Haply device.
 
diff --git a/source/isaaclab/isaaclab/devices/keyboard/se2_keyboard_cfg.py b/source/isaaclab/isaaclab/devices/keyboard/se2_keyboard_cfg.py
index 1a138e1683d2..acecde3ae7d6 100644
--- a/source/isaaclab/isaaclab/devices/keyboard/se2_keyboard_cfg.py
+++ b/source/isaaclab/isaaclab/devices/keyboard/se2_keyboard_cfg.py
@@ -7,16 +7,17 @@
 
 from __future__ import annotations
 
-from dataclasses import dataclass
 from typing import TYPE_CHECKING
 
+from isaaclab.utils import configclass
+
 from ..device_base import DeviceCfg
 
 if TYPE_CHECKING:
     from .se2_keyboard import Se2Keyboard
 
 
-@dataclass
+@configclass
 class Se2KeyboardCfg(DeviceCfg):
     """Configuration for SE2 keyboard devices."""
 
diff --git a/source/isaaclab/isaaclab/devices/keyboard/se3_keyboard_cfg.py b/source/isaaclab/isaaclab/devices/keyboard/se3_keyboard_cfg.py
index 36d6f48f1ae1..3ac55205360a 100644
--- a/source/isaaclab/isaaclab/devices/keyboard/se3_keyboard_cfg.py
+++ b/source/isaaclab/isaaclab/devices/keyboard/se3_keyboard_cfg.py
@@ -7,16 +7,17 @@
 
 from __future__ import annotations
 
-from dataclasses import dataclass
 from typing import TYPE_CHECKING
 
+from isaaclab.utils import configclass
+
 from ..device_base import DeviceCfg
 
 if TYPE_CHECKING:
     from .se3_keyboard import Se3Keyboard
 
 
-@dataclass
+@configclass
 class Se3KeyboardCfg(DeviceCfg):
     """Configuration for SE3 keyboard devices."""
 
diff --git a/source/isaaclab/isaaclab/devices/retargeter_base.py b/source/isaaclab/isaaclab/devices/retargeter_base.py
index 3e5fc4e47c92..c8a32e030c59 100644
--- a/source/isaaclab/isaaclab/devices/retargeter_base.py
+++ b/source/isaaclab/isaaclab/devices/retargeter_base.py
@@ -16,12 +16,12 @@
 
 import warnings
 from abc import ABC, abstractmethod
-from dataclasses import dataclass
+from isaaclab.utils import configclass
 from enum import Enum
 from typing import Any
 
 
-@dataclass
+@configclass
 class RetargeterCfg:
     """Base configuration for hand tracking retargeters.
 
diff --git a/source/isaaclab/isaaclab/devices/spacemouse/se2_spacemouse_cfg.py b/source/isaaclab/isaaclab/devices/spacemouse/se2_spacemouse_cfg.py
index 6cf5005fb760..91e6a823833a 100644
--- a/source/isaaclab/isaaclab/devices/spacemouse/se2_spacemouse_cfg.py
+++ b/source/isaaclab/isaaclab/devices/spacemouse/se2_spacemouse_cfg.py
@@ -7,16 +7,17 @@
 
 from __future__ import annotations
 
-from dataclasses import dataclass
 from typing import TYPE_CHECKING
 
+from isaaclab.utils import configclass
+
 from ..device_base import DeviceCfg
 
 if TYPE_CHECKING:
     from .se2_spacemouse import Se2SpaceMouse
 
 
-@dataclass
+@configclass
 class Se2SpaceMouseCfg(DeviceCfg):
     """Configuration for SE2 space mouse devices."""
 
diff --git a/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse_cfg.py b/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse_cfg.py
index 0bf4b73b44f6..ba63dae831b6 100644
--- a/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse_cfg.py
+++ b/source/isaaclab/isaaclab/devices/spacemouse/se3_spacemouse_cfg.py
@@ -7,16 +7,17 @@
 
 from __future__ import annotations
 
-from dataclasses import dataclass
 from typing import TYPE_CHECKING
 
+from isaaclab.utils import configclass
+
 from ..device_base import DeviceCfg
 
 if TYPE_CHECKING:
     from .se3_spacemouse import Se3SpaceMouse
 
 
-@dataclass
+@configclass
 class Se3SpaceMouseCfg(DeviceCfg):
     """Configuration for SE3 space mouse devices."""
 
diff --git a/source/isaaclab_teleop/isaaclab_teleop/deprecated/teleop_device_factory.py b/source/isaaclab_teleop/isaaclab_teleop/deprecated/teleop_device_factory.py
index 73f0b9a9355f..cb8fe18e8e74 100644
--- a/source/isaaclab_teleop/isaaclab_teleop/deprecated/teleop_device_factory.py
+++ b/source/isaaclab_teleop/isaaclab_teleop/deprecated/teleop_device_factory.py
@@ -64,7 +64,8 @@ def create_teleop_device(
             f"Device configuration '{device_name}' does not declare class_type. "
             "Set cfg.class_type to the concrete DeviceBase subclass."
         )
-    if not issubclass(device_constructor, DeviceBase):
+    check_cls = device_constructor._resolve() if hasattr(device_constructor, "_resolve") else device_constructor
+    if not issubclass(check_cls, DeviceBase):
         raise TypeError(f"class_type for '{device_name}' must be a subclass of DeviceBase; got {device_constructor}")
 
     # Try to create retargeters if they are configured

From 29c564f293f8ea5a5359f2132142350cc4707c47 Mon Sep 17 00:00:00 2001
From: Octi Zhang <zhengyuz@nvidia.com>
Date: Fri, 27 Feb 2026 13:18:22 -0800
Subject: [PATCH 9/9] fix linter

---
 source/isaaclab/isaaclab/devices/haply/se3_haply.py | 3 ++-
 source/isaaclab/isaaclab/devices/retargeter_base.py | 3 ++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/source/isaaclab/isaaclab/devices/haply/se3_haply.py b/source/isaaclab/isaaclab/devices/haply/se3_haply.py
index 371616a2f8a4..f9e190de8a4a 100644
--- a/source/isaaclab/isaaclab/devices/haply/se3_haply.py
+++ b/source/isaaclab/isaaclab/devices/haply/se3_haply.py
@@ -12,11 +12,12 @@
 import threading
 import time
 from collections.abc import Callable
-from isaaclab.utils import configclass
 
 import numpy as np
 import torch
 
+from isaaclab.utils import configclass
+
 try:
     import websockets
 
diff --git a/source/isaaclab/isaaclab/devices/retargeter_base.py b/source/isaaclab/isaaclab/devices/retargeter_base.py
index c8a32e030c59..0859dd5342cf 100644
--- a/source/isaaclab/isaaclab/devices/retargeter_base.py
+++ b/source/isaaclab/isaaclab/devices/retargeter_base.py
@@ -16,10 +16,11 @@
 
 import warnings
 from abc import ABC, abstractmethod
-from isaaclab.utils import configclass
 from enum import Enum
 from typing import Any
 
+from isaaclab.utils import configclass
+
 
 @configclass
 class RetargeterCfg: