The remains of the Castle can be visited
Waldangelloch Castle

The Waldangelloch castle ruin, once a spur castle, is located on a mountain spur above the eponymous district of Sinsheim. Although only remnants are visible today, the foundations and two corner tower buildings remain.
History+
The origins of Waldangelloch Castle date back to the early 13th century, presumably built around 1206 by the Counts of Eberstein. The complex was originally designed as a pentagonal castle, surrounded by a curtain wall with four corner towers that featured half-timbered superstructures. A keep was probably never part of the castle. The palas, a three-story building, had a stair tower with a spiral staircase. The castle served as the residence for the Lords of Angellach until their lineage died out in the early 17th century.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: http://www.wehrbauten.de/thread.php?threadid=981
This description draws on the facts documented in the linked Wikipedia article; Wikipedia content is licensed under CC BY-SA 4.0. Wording and editing: Mobile History.
Location: 49.2083, 8.8074