PINNeAPPle-Labs/single-wheel-tests

Published single-wheel testbed points (drawbar pull, sinkage, torque vs slip)

Experimental single-wheel tests digitised from figures of Ding et al. (2011), Wang & Han (2016) and Hurrell et al. (2025) by RoverDevKit (status 'digitised_approx': third-party readings of the figures, not the original data tables). Use for validation of terramechanics models, not for training.

single_wheel_tests v1.0.0 (revision v1.0.0.post1) · licence mit · part of the PINNeAPPle zoo

Configs and splits

Config	Split	Samples	Parquet rows	Parquet files	Content
default	all	27	27	1	every point (validation only)

Columns

Column	Unit	Type	Description
dataset	-	string	source publication key
drawbar_pull_N	N	float64	measured drawbar pull
grouser_count	-	float64	number of grousers
grouser_height_m	m	float64	grouser height
load_N	N	float64	vertical load
radius_m	m	float64	wheel radius
sinkage_m	m	float64	measured sinkage (NaN = not reported)
slip	-	float64	slip ratio
soil	-	string	soil name (pinneapple terramechanics database)
torque_Nm	N m	float64	measured driving torque (NaN = not reported)
wheel	-	string	wheel variant
width_m	m	float64	wheel width

Load

With the library (the npz files, SHA-256 checked; arrays with their full shape):

pip install "pinneapple @ git+https://github.com/PINNeAPPle-Labs/PINNeAPPle"

import pinneapple as pp

d = pp.datasets.load("single_wheel_tests", split="all")
print(d.n_rows, d.columns)

With datasets (the Parquet files of this repo):

from datasets import load_dataset

ds = load_dataset("PINNeAPPle-Labs/single-wheel-tests", split="all", revision="v1.0.0.post1")
print(ds)

Provenance

RoverDevKit, data/validation/single_wheel_experiments.csv, commit ec0b198f01bca4c8ce2892577e72e9c9c65914b5 (MIT, Copyright (c) 2026 Coordinated Autonomous Systems Lab, Duke University); copy in pinneapple_simulation/terramechanics/data/single_wheel_tests.csv

Verification

Public experimental data; digitisation uncertainty not quantified by the source.

Physics audit (WARN)

Generated by pp.datasets.audit (pinneapple_data.audit).

Check	Status	Result
finite	warn	missing values (NaN) in all/torque_Nm (5, documented)
physics	not-applicable	no PDE stated for this dataset
diversity.duplicates	not-applicable	no 'train' split
leakage	not-applicable	needs both 'train' and 'test' splits
units	pass	12 column units parse

Files

The npz files are the library's format and the source of truth: pp.datasets.load downloads them from this repo at the tagged revision and refuses any file whose SHA-256 differs from the manifest of the package. The Parquet files under data/ are derived from them by pinneapple_hub.zoo.parquet.write_dataset and hold the same numbers (a test round-trips npz -> Parquet -> arrays bit for bit); they are what the dataset viewer and load_dataset read.

File	Size	SHA-256
data.npz	0.0 MB	9764f653270270e1585e671c5c60f10cc4e92e45890313173f940f6fd5719e76

Total 0.0 MB of npz.

Citation

Ding L. et al. (2011) J. Terramechanics 48(1):27-45; Wang & Han (2016) J. Korean Geotech. Soc. 32(11):97-108; Hurrell et al. (2025) Space Sci. Rev. 221:37; digitised by RoverDevKit (MIT).

Cite

If you use this dataset, please cite PINNeAPPle (software, Zenodo DOI 10.5281/zenodo.23343062; see CITATION.cff):

@software{pinneapple,
  author = {Barros, Yan and Schiassi, Enrico},
  title  = {PINNeAPPle},
  doi    = {10.5281/zenodo.23343062},
  url    = {https://github.com/PINNeAPPle-Labs/PINNeAPPle}
}