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@@ -88,6 +88,7 @@ Guidelines for modifications:
 * Jinghuan Shang
 * Jingzhou Liu
 * Jinqi Wei
+* Jinyeob Kim
 * Johnson Sun
 * Kaixi Bao
 * Kris Wilson
 
@@ -163,6 +163,14 @@ for the lift-cube environment:
     +-------------------------+------------------------------+-----------------------------------------------------------------------------+
     | |agibot_place_toy|      | |agibot_place_toy-link|      | Pick up and place an object in a box with a Agibot A2D humanoid robot       |
     +-------------------------+------------------------------+-----------------------------------------------------------------------------+
+    | |reach_openarm_bi|      | |reach_openarm_bi-link|      | Move the end-effector to sampled target poses with the OpenArm robot        |
+    +-------------------------+------------------------------+-----------------------------------------------------------------------------+
+    | |reach_openarm_uni|     | |reach_openarm_uni-link|     | Move the end-effector to a sampled target pose with the OpenArm robot       |
+    +-------------------------+------------------------------+-----------------------------------------------------------------------------+
+    | |lift_openarm_uni|      | |lift_openarm_uni-link|      | Pick a cube and bring it to a sampled target position with the OpenArm robot|
+    +-------------------------+------------------------------+-----------------------------------------------------------------------------+
+    | |cabi_openarm_uni|      | |cabi_openarm_uni-link|      | Grasp the handle of a cabinet's drawer and open it with the OpenArm robot   |
+    +-------------------------+------------------------------+-----------------------------------------------------------------------------+
 
 .. |reach-franka| image:: ../_static/tasks/manipulation/franka_reach.jpg
 .. |reach-ur10| image:: ../_static/tasks/manipulation/ur10_reach.jpg
@@ -183,6 +191,10 @@ for the lift-cube environment:
 .. |agibot_place_toy| image:: ../_static/tasks/manipulation/agibot_place_toy.jpg
 .. |kuka-allegro-lift| image:: ../_static/tasks/manipulation/kuka_allegro_lift.jpg
 .. |kuka-allegro-reorient| image:: ../_static/tasks/manipulation/kuka_allegro_reorient.jpg
+.. |reach_openarm_bi| image:: ../_static/tasks/manipulation/openarm_bi_reach.jpg
+.. |reach_openarm_uni| image:: ../_static/tasks/manipulation/openarm_uni_reach.jpg
+.. |lift_openarm_uni| image:: ../_static/tasks/manipulation/openarm_uni_lift.jpg
+.. |cabi_openarm_uni| image:: ../_static/tasks/manipulation/openarm_uni_open_drawer.jpg
 
 .. |reach-franka-link| replace:: `Isaac-Reach-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/joint_pos_env_cfg.py>`__
 .. |reach-ur10-link| replace:: `Isaac-Reach-UR10-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py>`__
@@ -212,6 +224,10 @@ for the lift-cube environment:
 .. |cube-shadow-vis-link| replace:: `Isaac-Repose-Cube-Shadow-Vision-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_vision_env.py>`__
 .. |agibot_place_mug-link| replace:: `Isaac-Place-Mug-Agibot-Left-Arm-RmpFlow-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_upright_mug_rmp_rel_env_cfg.py>`__
 .. |agibot_place_toy-link| replace:: `Isaac-Place-Toy2Box-Agibot-Right-Arm-RmpFlow-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/place/config/agibot/place_toy2box_rmp_rel_env_cfg.py>`__
+.. |reach_openarm_bi-link| replace:: `Isaac-Reach-OpenArm-Bi-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/bimanual/joint_pos_env_cfg.py>`__
+.. |reach_openarm_uni-link| replace:: `Isaac-Reach-OpenArm-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/openarm/unimanual/joint_pos_env_cfg.py>`__
+.. |lift_openarm_uni-link| replace:: `Isaac-Lift-Cube-OpenArm-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/lift/config/openarm/joint_pos_env_cfg.py>`__
+.. |cabi_openarm_uni-link| replace:: `Isaac-Open-Drawer-OpenArm-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cabinet/config/openarm/joint_pos_env_cfg.py>`__
 
 
 Contact-rich Manipulation
@@ -1135,3 +1151,19 @@ inferencing, including reading from an already trained checkpoint and disabling
       - Isaac-Velocity-Rough-Unitree-Go2-Play-v0
       - Manager Based
       - **rsl_rl** (PPO), **skrl** (PPO)
+    * - Isaac-Reach-OpenArm-Bi-v0
+      - Isaac-Reach-OpenArm-Bi-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **rl_games** (PPO)
+    * - Isaac-Reach-OpenArm-v0
+      - Isaac-Reach-OpenArm-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **skrl** (PPO), **rl_games** (PPO)
+    * - Isaac-Lift-Cube-OpenArm-v0
+      - Isaac-Lift-Cube-OpenArm-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **rl_games** (PPO)
+    * - Isaac-Open-Drawer-OpenArm-v0
+      - Isaac-Open-Drawer-OpenArm-Play-v0
+      - Manager Based
+      - **rsl_rl** (PPO), **rl_games** (PPO)
@@ -1,6 +1,6 @@
 [package]
 # Semantic Versioning is used: https://semver.org/
-version = "0.2.3"
+version = "0.2.4"
 
 # Description
 title =  "Isaac Lab Assets"
 
@@ -1,6 +1,14 @@
 Changelog
 ---------
 
+0.2.4 (2025-11-26)
+~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Configuration for OpenArm robots used for manipulation tasks.
+
 0.2.3 (2025-08-11)
 ~~~~~~~~~~~~~~~~~~
 
 
@@ -0,0 +1,173 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Configuration of OpenArm robots.
+
+The following configurations are available:
+
+* :obj:`OPENARM_BI_CFG`: OpenArm robot with two arms.
+* :obj:`OPENARM_BI_HIGH_PD_CFG`: OpenArm robot with two arms and stiffer PD control.
+* :obj:`OPENARM_UNI_CFG`: OpenArm robot with one arm.
+* :obj:`OPENARM_UNI_HIGH_PD_CFG`: OpenArm robot with one arm and stiffer PD control.
+
+References:
+OpenArm repositories:
+* https://github.com/enactic/openarm
+* https://github.com/enactic/openarm_isaac_lab
+
+Motor spec sheets:
+* Joint 1–2 (DM-J8009P-2EC):
+    https://cdn.shopify.com/s/files/1/0673/6848/5000/files/DM-J8009P-2EC_User_Manual.pdf?v=1755481750
+* Joint 3–4 (DM-J4340P-2EC / DM-J4340-2EC):
+    https://cdn.shopify.com/s/files/1/0673/6848/5000/files/DM-J4340-2EC_User_Manual.pdf?v=1756883905
+* Joint 5–8 (DM-J4310-2EC V1.1):
+    https://files.seeedstudio.com/products/Damiao/DM-J4310-en.pdf
+"""
+
+import isaaclab.sim as sim_utils
+from isaaclab.actuators import ImplicitActuatorCfg
+from isaaclab.assets.articulation import ArticulationCfg
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
+
+OPENARM_BI_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/OpenArm/openarm_bimanual/openarm_bimanual.usd",
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            max_depenetration_velocity=5.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=False,
+            solver_position_iteration_count=8,
+            solver_velocity_iteration_count=0,
+        ),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        joint_pos={
+            "openarm_left_joint.*": 0.0,
+            "openarm_right_joint.*": 0.0,
+            "openarm_left_finger_joint.*": 0.0,
+            "openarm_right_finger_joint.*": 0.0,
+        },
+    ),
+    # spec sheet for reference
+    # DM-J8009P-2EC (Joint 1, 2):
+    # https://cdn.shopify.com/s/files/1/0673/6848/5000/files/DM-J8009P-2EC_User_Manual.pdf?v=1755481750
+    # DM-J4340P-2EC, DM-J4340-2EC (Joint 3, 4):
+    # https://cdn.shopify.com/s/files/1/0673/6848/5000/files/DM-J4340-2EC_User_Manual.pdf?v=1756883905
+    # DM-J4310-2EC V1.1 (Joint 5, 6, 7, 8):
+    # https://files.seeedstudio.com/products/Damiao/DM-J4310-en.pdf
+    actuators={
+        "openarm_arm": ImplicitActuatorCfg(
+            joint_names_expr=[
+                "openarm_left_joint[1-7]",
+                "openarm_right_joint[1-7]",
+            ],
+            velocity_limit_sim={
+                "openarm_left_joint[1-2]": 2.175,
+                "openarm_right_joint[1-2]": 2.175,
+                "openarm_left_joint[3-4]": 2.175,
+                "openarm_right_joint[3-4]": 2.175,
+                "openarm_left_joint[5-7]": 2.61,
+                "openarm_right_joint[5-7]": 2.61,
+            },
+            effort_limit_sim={
+                "openarm_left_joint[1-2]": 40.0,
+                "openarm_right_joint[1-2]": 40.0,
+                "openarm_left_joint[3-4]": 27.0,
+                "openarm_right_joint[3-4]": 27.0,
+                "openarm_left_joint[5-7]": 7.0,
+                "openarm_right_joint[5-7]": 7.0,
+            },
+            stiffness=80.0,
+            damping=4.0,
+        ),
+        "openarm_gripper": ImplicitActuatorCfg(
+            joint_names_expr=[
+                "openarm_left_finger_joint.*",
+                "openarm_right_finger_joint.*",
+            ],
+            velocity_limit_sim=0.2,
+            effort_limit_sim=333.33,
+            stiffness=2e3,
+            damping=1e2,
+        ),
+    },
+    soft_joint_pos_limit_factor=1.0,
+)
+"""Configuration of OpenArm Bimanual robot."""
+
+OPENARM_UNI_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/OpenArm/openarm_unimanual/openarm_unimanual.usd",
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            max_depenetration_velocity=5.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=False,
+            solver_position_iteration_count=8,
+            solver_velocity_iteration_count=0,
+        ),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        joint_pos={
+            "openarm_joint1": 1.57,
+            "openarm_joint2": 0.0,
+            "openarm_joint3": -1.57,
+            "openarm_joint4": 1.57,
+            "openarm_joint5": 0.0,
+            "openarm_joint6": 0.0,
+            "openarm_joint7": 0.0,
+            "openarm_finger_joint.*": 0.044,
+        },
+    ),
+    actuators={
+        "openarm_arm": ImplicitActuatorCfg(
+            joint_names_expr=["openarm_joint[1-7]"],
+            velocity_limit_sim={
+                "openarm_joint[1-2]": 2.175,
+                "openarm_joint[3-4]": 2.175,
+                "openarm_joint[5-7]": 2.61,
+            },
+            effort_limit_sim={
+                "openarm_joint[1-2]": 40.0,
+                "openarm_joint[3-4]": 27.0,
+                "openarm_joint[5-7]": 7.0,
+            },
+            stiffness=80.0,
+            damping=4.0,
+        ),
+        "openarm_gripper": ImplicitActuatorCfg(
+            joint_names_expr=["openarm_finger_joint.*"],
+            velocity_limit_sim=0.2,
+            effort_limit_sim=333.33,
+            stiffness=2e3,
+            damping=1e2,
+        ),
+    },
+    soft_joint_pos_limit_factor=1.0,
+)
+"""Configuration of OpenArm Unimanual robot."""
+
+OPENARM_BI_HIGH_PD_CFG = OPENARM_BI_CFG.copy()
+OPENARM_BI_HIGH_PD_CFG.spawn.rigid_props.disable_gravity = True
+OPENARM_BI_HIGH_PD_CFG.actuators["openarm_arm"].stiffness = 400.0
+OPENARM_BI_HIGH_PD_CFG.actuators["openarm_arm"].damping = 80.0
+OPENARM_BI_HIGH_PD_CFG.actuators["openarm_gripper"].stiffness = 2e3
+OPENARM_BI_HIGH_PD_CFG.actuators["openarm_gripper"].damping = 1e2
+"""Configuration of OpenArm Bimanual robot with stiffer PD control.
+
+This configuration is useful for task-space control using differential IK.
+"""
+
+OPENARM_UNI_HIGH_PD_CFG = OPENARM_UNI_CFG.copy()
+OPENARM_UNI_HIGH_PD_CFG.spawn.rigid_props.disable_gravity = True
+OPENARM_UNI_HIGH_PD_CFG.actuators["openarm_arm"].stiffness = 400.0
+OPENARM_UNI_HIGH_PD_CFG.actuators["openarm_arm"].damping = 80.0
+"""Configuration of OpenArm Unimanual robot with stiffer PD control.
+
+This configuration is useful for task-space control using differential IK.
+"""
@@ -1,6 +1,26 @@
 Changelog
 ---------
 
+0.11.11 (2025-12-16)
+~~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added reaching task environments for OpenArm unimanual robot:
+  * :class:`OpenArmReachEnvCfg`; Gym ID ``Isaac-Reach-OpenArm-v0``.
+  * :class:`OpenArmReachEnvCfg_PLAY`; Gym ID ``Isaac-Reach-OpenArm-Play-v0``.
+* Added lifting a cube task environments for OpenArm unimanual robot:
+  * :class:`OpenArmCubeLiftEnvCfg`; Gym ID ``Isaac-Lift-Cube-OpenArm-v0``.
+  * :class:`OpenArmCubeLiftEnvCfg_PLAY`; Gym ID ``Isaac-Lift-Cube-OpenArm-Play-v0``.
+* Added opening a drawer task environments for OpenArm unimanual robot:
+  * :class:`OpenArmCabinetEnvCfg`; Gym ID ``Isaac-Open-Drawer-OpenArm-v0``.
+  * :class:`OpenArmCabinetEnvCfg_PLAY`; Gym ID ``Isaac-Open-Drawer-OpenArm-Play-v0``.
+* Added reaching task environments for OpenArm bimanual robot:
+  * :class:`OpenArmReachEnvCfg`; Gym ID ``Isaac-Reach-OpenArm-Bi-v0``.
+  * :class:`OpenArmReachEnvCfg_PLAY`; Gym ID ``Isaac-Reach-OpenArm-Bi-Play-v0``.
+
+
 0.11.10 (2025-12-13)
 ~~~~~~~~~~~~~~~~~~~~