> ## Documentation Index
> Fetch the complete documentation index at: https://docs.generalrobotics.dev/llms.txt
> Use this file to discover all available pages before exploring further.

# Wheeled

## Wheeled

Inherits from: [`Robot`](/robot-api/reference/base/robot/robot/Robot)

Abstract base class defining the interface for wheeled robots.

This class extends the base Robot class with additional methods specific to
wheeled locomotion and control.

### Inherited methods

* From [`Robot`](/robot-api/reference/base/robot/robot/Robot): `addSensor`, `getImage`, `getState`, `getPosition`, `getOrientation`, `moveByVelocity`, `stop`, `cleanup`

### **init**

```python theme={null}
Wheeled.__init__(server_port: int = 4774, enable_websocket: bool = True, client_timeout: float = 30.0) -> None
```

Initialize wheeled robot.

<ResponseField name="Arguments">
  <ParamField query="server_port (int)" type="int">
    Port for WebSocket server (default 4774)
  </ParamField>

  <ParamField query="enable_websocket (bool)" type="bool">
    Whether to start the WebSocket server (default True)
  </ParamField>

  <ParamField query="client_timeout (float)" type="float">
    Client timeout in seconds (default 30.0)
  </ParamField>
</ResponseField>

<ResponseField name="Returns">
  <ResponseField name="returns" type="None" />
</ResponseField>