The Castle can be visited
Hellenstein Castle

Hellenstein Castle is located in Heidenheim an der Brenz in Baden-Württemberg. This complex was once the ancestral seat of the Lords of Hellenstein.
History+
Construction of the Staufer castle began in 1096 under Gozpert de Halensteine. His grandson Degenhard expanded the complex. Numerous ashlar blocks are still visible in the knight's hall. The rule of the Hellensteiners ended in 1273, after which the castle changed hands several times, including the Counts of Helfenstein from 1351 to 1448. In 1503, the castle came under the rule of the House of Württemberg. After a fire in 1530, which destroyed the complex down to its foundations, reconstruction took place under Duke Ulrich of Württemberg between 1537 and 1544. From 1593, Duke Friedrich I of Württemberg had a palace built east of the medieval castle, with master builder Heinrich Schickhardt taking over the planning in 1598.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: Peter Schneider
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: 48.6753, 10.1495