---
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}
}
```