Datasets:

PINNeAPPle-Labs
/

single-wheel-tests

pretty_name: Published single-wheel testbed points (drawbar pull, sinkage, torque vs slip)
license: mit
task_categories:
  - tabular-regression
size_categories:
  - n<1K
tags:
  - pinneapple
  - physics
  - scientific-machine-learning
  - terramechanics
  - experiment
  - validation
configs:
  - config_name: default
    default: true
    data_files:
      - split: all
        path: data/default/all-*.parquet
dataset_info:
  - config_name: default
    features:
      - name: dataset
        dtype: string
      - name: drawbar_pull_N
        dtype: float64
      - name: grouser_count
        dtype: float64
      - name: grouser_height_m
        dtype: float64
      - name: load_N
        dtype: float64
      - name: radius_m
        dtype: float64
      - name: sinkage_m
        dtype: float64
      - name: slip
        dtype: float64
      - name: soil
        dtype: string
      - name: torque_Nm
        dtype: float64
      - name: wheel
        dtype: string
      - name: width_m
        dtype: float64
    splits:
      - name: all
        num_bytes: 3030
        num_examples: 27

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}
}