# 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 Han's T30 we need to type in the terminal:

ros2 launch hans_modular_servomotor hans_t30.launch.py

# Visualizing the motor

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

rviz2 -d ros2 pkg prefix hans_t30_description/share/hans_t30_description/rviz/visualization.rviz