| --- |
| 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](https://github.com/PINNeAPPle-Labs/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): |
|
|
| ```bash |
| pip install "pinneapple @ git+https://github.com/PINNeAPPle-Labs/PINNeAPPle" |
| ``` |
|
|
| ```python |
| 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): |
|
|
| ```python |
| 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](https://doi.org/10.5281/zenodo.23343062); see [CITATION.cff](https://github.com/PINNeAPPle-Labs/PINNeAPPle/blob/main/CITATION.cff)): |
|
|
| ```bibtex |
| @software{pinneapple, |
| author = {Barros, Yan and Schiassi, Enrico}, |
| title = {PINNeAPPle}, |
| doi = {10.5281/zenodo.23343062}, |
| url = {https://github.com/PINNeAPPle-Labs/PINNeAPPle} |
| } |
| ``` |
|
|
