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).