Short Answer:
Because osmium reacts with oxygen to form the highly toxic osmium tetroxide, I substituted Iridim, which is almost as dense as osmium and much less toxic, in my calculations. Unfortunately, iridium is about as rare as osmium.
A planet made of solid iridium with only a thin surface layer of other maderials would probably have too high a surface gravity for humans to tolerate. So it would not be suitable for humans or any beings used to Earth gravity to settle on. On the other hand, a planet with an oxygen rich atmosphere would need a high enough escape velocity to retain that oxygen for geologic eras of time.
So I had to find online calculators for both the surface gravity and the escape velocity of planets I designed.
I designed planets with varying abomunts of iridium in the core and materials with the same average density as Earth surrounding the core. That is a sort of an over simplification, but I figured If I could design a fairly plausible planet that way someone who is more expert in planetology could do more expert calculations. And of course a planet with a large amount of iridium is not very realistic.
I designed a planet with iridium with 0.01 the mass of Earth and 0.0024467 the volume of Earth, and materials with the average density of Earth in 0.09 times the volume and mass of Earth, for a total mass of 0.1 of Earth and radius of 0.280497 Earth, or 1,787.0514 kilometers, and diameter of 2,574.1028 kilometers. That planet would have a surface gravity of 1.28 g and an escape velocity of 6.679 kilometers per second.
Accepting the surface gravity limit of 1.25 to 1.5 g and the minimum escape velocity of 6.25 kilometers per second from Habitable planets for Man Stephen H. Dole, 1964,
https://www.rand.org/content/dam/rand/pubs/commercial_books/2007/RAND_CB179-1.pdf
I decided that the surface gravity of 1.28 g was a little high but acceptable and the escape velocity of 6.679 kilometers per second was on the low end but acceptable.
Anywone who wants to calculate a planet with a lower surface gravity and a higher escape velocity can try it.
Long Answer:
Here is a link to a question, and its answers, including mine:
https://astronomy.stackexchange.com/questions/41590/can-a-habitable-planet-be-smaller-than-0-58-earth-radii/41599#41599
You will note that PM 2Ring's comment to my answer there suggests using another heavy element as the planet's core.
Can we switch from osmium to iridium? ;) They have almost the same density (depending on the crystallisation state), but osmium is nasty stuff. Its oxide is quite toxic and rather volatile, whereas iridium is fairly inert
Since GrumpyYoungMan's answer here says that osmium would react with the common element oxygen to form a poisonous gas, osmium tetroxide, which would seep upward from the core of the planet and poison life, iridium seems like a better alternative to Osmium.
The measured density of iridium is only slightly lower (by about 0.12%) than that of osmium, the densest metal known.[11][12] Some ambiguity occurred regarding which of the two elements was denser, due to the small size of the difference in density and difficulties in measuring it accurately,[13] but, with increased accuracy in factors used for calculating density, X-ray crystallographic data yielded densities of 22.56 g/cm3 for iridium and 22.59 g/cm3 for osmium.[14]
https://en.wikipedia.org/wiki/Iridium
Unfortunately Iridium is about as rare as osmium, making planets with large amounts of iridium about as impossible to form naturally as those with Osmium, and about as difficult for an advanced civilization to build.
The planet Earth has an average density of 5.513 grams per cubic centimeter (which of course is partially the result of gravitational compression of matter deep in its interior) while Iridium has a density of 22.56 grams per cubitc centimeter. That is 4.0921458 times the average density of Earth.
In my answer at https://astronomy.stackexchange.com/questions/41590/can-a-habitable-planet-be-smaller-than-0-58-earth-radii/41599#41599 I quoted from a source which gives minimum masses for habitable planets calculated various ways as 0.1 Earth mass, 0.i2 Earth mass, and 0.23 Earth mass. The authors concluded that worlds with 0.25 Earth mass are at about the lowest possible mass for habitable worlds, though various factors could drive the limit up or down in specific cases.
So in my answer I caculated the radii of planets which were almost entirely made of osmium and had masses of 0.1 and 0.25 that of Earth.
But iridium would not be nearly as toxic as osmium.
So a hypothetical iridium planet with 0.1 times the mass of Earth would have a volume which was 0.1 times that of Earth divided by 4.0921458, and a hypothetical iridium planet with a mass of 0.25 Earth mass would have a volume which was 0.25 times the volume of earth, divided by 4.0921458. Thus a 0.1 Earth mass planet would have 0.024437 times the volume of Earth, and thus 0.180019587 times the radius of Earth, and a 0.25 Earth mass planet would have 0.061926 times the volume of Earth, and thus 0.245430278 the radius of Earth.
So a hypothetical iridium planet with 0.1 times the mass of Earth would have a radius of about 1,146.9042 kilometers, and diameter of about 2,293.8084 kilometers, while a hypothetical iridium planet with 0.25 times the mass of Earth would have a radius of about 1,592.75 kilometers, and diameter of about 3,185.5 kilometers.
The hypothetical Iridium planet with mass of 0.1 Earth would have a surface gravity of 3.09 Earth gravity or g, and an escape velocity of 8.337 kilometers per second.
The hypothetical Iridium planet with mass of 0.25 Earth would have a surface gravity of 4.01 g, and an escape velocity of 11.29 kilometers per second.
https://philip-p-ide.uk/doku.php/blog/articles/software/surface_gravity_calc
https://www.omnicalculator.com/physics/escape-velocity
Those escape velocities should be sufficient to retain a oxygen nitrogen atmosphere in case a writer wants to make the planet habitable for humans. But the surface gravities would be too high for humans to endure for more than minutes or hours. Humans would never colonize such planets or visit them for long without anti gravity, nor would human like intelligent beings evolve on them.
However, native plants and land animals should have no trouble evolving adaptions to the high surface gravity, and thus native intelligent beings shaped like centaurs, elephants, catapillars, etc. should manage to evolve on a hypothetical irridum planet with a relatively thin layar of more common elements necessary for life.
Let's try a planet with 0.05 Earth mass in Iridium and 0.2 Earth mass in stuff with the same average density as Earth. The irridium core would have 0.05 times the volume of Earth divided by 4.0921458, or 0.0122185 the volume of Earth while the other 0.2 of Earth's mass would have 0.2 of Earth's volume. so the total would be 0.2122185 of Earth's volume.
Such a sphere would have 0.3700 the radius of Earth, or a radius of 2,357.27 kilometers and diameter of 4,714.54 kilometers. and it would have a surface gravity of 1.83 g and an escape velocity of 9.195 kilometers per second.
The surface gravity would still be too high.
Suppose that the planet had 0.05 of Earth's mass in iridium and 0.25 Earth's mass in lighter elements with the same density as the Earth. The irridium core would have 0.05 times the volume of Earth divided by 4.0921458, or 0.0122185 the volume of Earth while the other 0.25 of Earth's mass would have 0.25 of Earth's volume. so the total would be 0.2622185 of Earth's volume.
The planet would have a radius of 0.39706 Earth's radius, or 2,529.6692 kilometers, and a diameter of 5,059.3384 kilometers. It would have a surface gravity of 1.91 g and an escape velocity of 9.723 kilometers per second.
Suppose the planet has 0.025 of Earth's mass in Irridium and 0.275 of Earth's mass in materials with Earth's average density. The irridium core would have 0.025 times the volume of Earth divided by 4.0921458, or 0.0061092 the volume of Earth while the other 0.275 of Earth's mass would have 0.275 of Earth's volume. so the total would be 0.2811092 of Earth's volume.
The planet would have a radius of 0.4063 of Earth's radius, or 2,588.5373 kilometers, and a diameter of 5,177.0746 kilometers. It would have a surface gravity of 1.82 g and an escape velocity of 9.612 kilometers per second.
Suppose that the planet has 0.01 of Earth's mass in iridium and and 0.29 of Earth's mass in materials with Earth's average density. The irridium core would have 0.01 times the volume of Earth divided by 4.0921458, or 0.0024437 the volume of Earth while the other 0.29 of Earth's mass would have 0.29 of Earth's volume. so the total would be 0.2924437 of Earth's volume.
So the planet's radius would be 0.417766698 of Earth's radius, or 2,661.591 kilometers, and the diameter would be 5,323.182 kilometers. The surface gravity would be 1.72 g and the escape velocity would be 9.48 kilometers per second.
Suppose that the planet has 0.01 of Earth's mass in iridium and and 0.39 of Earth's mass in materials with Earth's average density. The irridium core would have 0.01 times the volume of Earth divided by 4.0921458, or 0.0024437 the volume of Earth while the other 0.39 of Earth's mass would have 0.39 of Earth's volume. so the total would be 0.3924437 of Earth's volume.
So the planet's radius would be 0.45418165 Earth's radius, or 2,893.5909 kilometers, and the diameter would be 5,787.1818 kilometers. The surface gravity would be 1.94 g and the escape velocity would be 9.01 kilometers per second.
After some more calculations, I tried a planet with 0.01 Earth mass in iridium and 0.04 Earth mass in substances with the average density of earth, for a totalof 0.05 Earth mass and 0.0424437 Earth's volume. Such a world would have a radius of 0.228539075 Earth radius, or 1,4560219 kilometers, and a diameter of 2,512.0438 kilometers.
And it would have a surface gravity of 0.96 g, and an escape velocity of 5.232 kilometers per second. The surface gravity would be great, very close to Earth's, but the escape velocity would be a bit too low, oging by the minimum of 6.25 kilometers per second in Habitable Planets for Man, Stephen H. Dole, 1964.
So the next design I tried was a planet with 0.01 Earth mass in iridium with a volume of 0.0024437 of Earth's volume, and a mass of 0.09 earth mass in material with the average density of Earth. That planet would have 0.1 times the mass of Earth and 0.0924437 the volume of Earth. It would have 0.280497872 the radius of Earth, 1,787.0514 kilometers, and a diameter of 2,574.1028 kilometers.
It would have a surface gravity of 1.28 gravity, which is more or less within acceptable limits, and an escape velocity of 6.679 kilommeters per second,w hich should b ehigh enough to be acceptable.
And no doubt trying different figures can come up with a planet with a lower surface gravity and a higher escape velocity.