# Han´s Robot Joints - Visualization

First thing we have to do it's to launch the simulation. Remember how to do it here. If we want to simulate Robotiq's modular grippers we need to type in the terminal:

ros2 launch robotiq_gazebo robotiq_85.launch.py

# Visualizing the gripper

We are going to use RVIZ2 to visualize the Robotiq's modular gripper. For this we need to run the following program:

rviz2 -d ros2 pkg prefix robotiq_85_gripper_description/share/robotiq_85_gripper_description/rviz/visualization.rviz