Update OMY-3M model for current requirements

Signed-off-by: kimtaehyeong99 <kth@robotis.com>

Author: kimtaehyeong99

LICENSE

@@ -5164,6 +5164,213 @@ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 
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 License for contents in the directory 'robotis_op3/'
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catalog.py

@@ -95,6 +95,7 @@ def display_name(robot):
   'aloha/aloha': ModelType.DUAL_ARM,
   'rethink_robotics_sawyer/sawyer': ModelType.ARM,
   'robotis_op3/op3': ModelType.HUMANOID,
+  'robotis_omy_3m/omy_3m': ModelType.ARM,
   'universal_robots_ur10e/ur10e': ModelType.ARM,
   'kuka_iiwa_14/iiwa14': ModelType.ARM,
   'trossen_vx300s/vx300s': ModelType.ARM,

robotis_omy_3m/CHANGELOG.md

@@ -2,6 +2,5 @@
 
 All notable changes to this model will be documented in this file.
 
-## [2025-01-19]
+## [2026-01-19]
 - Initial release.
-

robotis_omy_3m/README.md

@@ -19,23 +19,37 @@ The OMY-3M is a 6-DOF fixed-base robotic manipulator designed for research and i
 
 ## URDF → MJCF derivation steps
 
-1. Converted the STL mesh files from the [ROBOTIS open_manipulator repository](https://github.com/ROBOTIS-GIT/open_manipulator/tree/main/open_manipulator_description/meshes/omy).
+1. Reused the STL visual meshes from the [ROBOTIS open_manipulator repository](https://github.com/ROBOTIS-GIT/open_manipulator/tree/main/open_manipulator_description/meshes/omy_3m).
 2. Added `<mujoco> <compiler discardvisual="false"/> </mujoco>` to the URDF's `<robot>` clause in order to preserve visual geometries.
 3. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
 4. Manually edited the MJCF to extract common properties into the `<default>` section.
-5. Added position-controlled actuators with carefully tuned PD gains.
+5. Added position-controlled actuators with a unit damping ratio and the documented maximum motor torques as force
+   limits.
 6. Added `fullinertia` values directly from the URDF for accurate dynamics simulation.
-7. Added home joint configuration as a `keyframe`.
-8. Added `scene.xml` which includes the robot, with a textured ground plane, skybox and haze.
+7. Preserved the cylinder collision primitives from the URDF and the disabled collision pairs from the MoveIt SRDF.
+8. Added an `attachment_site` at the URDF end-effector frame and the ROBOTIS initial configuration as the `home` keyframe.
+9. Added `scene.xml` which includes the robot, with a textured ground plane, skybox and haze.
+
+## Validation
+
+- The compiled mass, center of mass, principal inertia and inertial orientation of all six moving links match the
+  source URDF exactly.
+- Forward kinematics match the source URDF exactly over 1,000 seeded random configurations, and the maximum
+  absolute gravity-bias difference is `1.1e-14` N m.
+- The collision primitive poses and dimensions match the source URDF, and the `home` keyframe is contact-free.
 
 ## Actuator specifications
 
 The OMY-3M uses DYNAMIXEL motors with the following specifications:
 
-| Joint | Motor | Max Torque (Nm) |
-|-------|-------|-----------------|
-| Joint 1, 2 | DY-80 | 61.4 |
-| Joint 3, 4, 5, 6 | DY-70 | 31.7 |
+| Joint | Motor | Continuous torque (N m) | Maximum torque (N m) |
+|-------|-------|-------------------------|----------------------|
+| Joint 1, 2 | YM080-230-A099-RH | 26.0 | 61.4 |
+| Joint 3, 4, 5, 6 | YM070-210-A099-RH | 14.6 | 31.7 |
+
+The position actuators use the documented maximum torque as their force limit. See the
+[OMY hardware specifications](https://ai.robotis.com/omy/hardware_omy.html) and the
+[DYNAMIXEL-Y specifications](https://emanual.robotis.com/docs/en/dxl/y/) for the source values.
 
 ## License