Please go to the Collision Tab of the Simulation Tag (Attribute Manager).
Here, the Hierarchy Level needs something other than zero to get there. (I say "something" as I have no idea about your setup.)
Thanks for the file.
I replaced the Floor Dynamics (Backdrop) with a Plane.
I have set the Wheel Dynamic Shape to a Cylinder Z
Increased the scale to 5 cm
Friction to 80% for all
I left the Bounce at 0% even though I think that is not how I would do it, but I guess that is your target.
I cached it, and it looks acceptable to me.
It runs fast; I placed (standard render) a checkerboard on the wheel.
What you might have used, but since I write in a forum:
Attribute Manager> Mode> Project> Bullet> Visualization
Yes, Scatter would be the correct name—no idea how that happened. 😉
Should I blame my text correction, hehe? No, it was certain me: So sorry about the time you wasted.
The Matrix-Scatter is a comfortable way, a mixture of Matrix and RS-Tag (Redshift Object Tag).
I have simplified the setup and replaced the cubes with a proxy chain element.
There is usually an option to use a proxy object to have a more detailed model visible, but not used as the dynamic base.
My suggestion here is either cache the solution and replace then the parts or use after caching the Matrix (or a new Cloner) object and use the cached dynamic to drive the detailed version.
I have used the Ornament Sphere here as a Clone, while it is placed based on Cloner> Sort and Plaineffector> Modify Clones (driven by a MoGraph Selection.
You might like to adjust the project Settings> Dynamics> Steps.
