Fixes redundant string to callable

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)
 ~~~~~~~~~~~~~~~~~~

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."""
 

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."""
 

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."""
 

source/isaaclab/isaaclab/devices/haply/se3_haply.py

@@ -12,11 +12,12 @@
 import threading
 import time
 from collections.abc import Callable
-from dataclasses import dataclass
 
 import numpy as np
 import torch
 
+from isaaclab.utils import configclass
+
 try:
     import websockets
 
@@ -377,7 +378,7 @@ async def _websocket_loop(self):
                     break
 
 
-@dataclass
+@configclass
 class HaplyDeviceCfg(DeviceCfg):
     """Configuration for Haply device.
 

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."""
 

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."""
 

source/isaaclab/isaaclab/devices/retargeter_base.py

@@ -16,12 +16,13 @@
 
 import warnings
 from abc import ABC, abstractmethod
-from dataclasses import dataclass
 from enum import Enum
 from typing import Any
 
+from isaaclab.utils import configclass
 
-@dataclass
+
+@configclass
 class RetargeterCfg:
     """Base configuration for hand tracking retargeters.
 

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."""
 

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."""
 

source/isaaclab/isaaclab/utils/configclass.py

@@ -208,24 +208,44 @@ 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:
             if module_dir is None:
                 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):
-        return [_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):
-        return 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):
-        return {key: _wrap_resolvable_strings(item, module_dir=module_dir) for key, item in value.items()}
-    if isinstance(getattr(value, "__dataclass_fields__", None), dict) and hasattr(value, "__dict__"):
+        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 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
 
 

source/isaaclab/isaaclab/utils/dict.py

@@ -146,10 +146,9 @@ 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 not callable(value):
                     raise ValueError(
                         f"[Config]: Incorrect type under namespace: {key_ns}."

source/isaaclab/test/utils/test_configclass.py

@@ -26,9 +26,10 @@
 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
 
 """
 Mock classes and functions.
@@ -447,7 +448,7 @@ 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]}},
@@ -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."""
 
@@ -1077,3 +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"

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)

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