diff --git a/src/visualizers.jl b/src/visualizers.jl
new file mode 100644
index 00000000..f27731cf
--- /dev/null
+++ b/src/visualizers.jl
@@ -0,0 +1,42 @@
+@mtkmodel Visaluzable begin
+    @components begin
+        frame_a = Frame()
+    end
+    @parameters begin
+        color[1:4] = [1.0, 0.0, 0.0, 1.0], [description = "Color of the body in animations"]
+        render = true, [description = "Render the joint in animations"]
+    end
+    @equations begin
+        frame_a.f ~ zeros(3)
+        frame_a.tau ~ zeros(3)
+    end
+end
+
+@mtkmodel SphereVisualizer begin
+    @extend () = v = Visaluzable()
+    @parameters begin
+        radius = 0.1, [description = "Radius of the sphere in animations"]
+    end
+end
+
+@mtkmodel CylinderVisualizer begin
+    @extend () = v = Visaluzable()
+    @parameters begin
+        radius = 0.1, [description = "Radius of the sphere in animations"]
+        length = 1.0, [description = "length of the cylinder"]
+        length_direction[1:3] = [1.0, 0.0, 0.0], [description = "length direction of the cylinder, resolved in frame_a"]
+    end
+end
+
+@mtkmodel BoxVisualizer begin
+    @extend () = v = Visaluzable()
+    @parameters begin
+        length_direction[1:3] = [1.0, 0.0, 0.0], [description = "length direction of the box, resolved in frame_a"]
+        width_direction[1:3] = [0.0, 1.0, 0.0], [description = "width direction of the box, resolved in frame_a"]
+        length = 1.0, [description = "length of the box"]
+        width = 1.0, [description = "width of the box"]
+        height = 1.0, [description = "height of the box"]
+        r_shape[1:3] = [0,0,0]
+    end
+end
+