diff --git a/common/tier4_perception_rviz_plugin/README.md b/common/tier4_perception_rviz_plugin/README.md
index 1dfa05f81f60a..7ce9ba5114ef9 100644
--- a/common/tier4_perception_rviz_plugin/README.md
+++ b/common/tier4_perception_rviz_plugin/README.md
@@ -95,3 +95,20 @@ Using a planning simulator
    ![select_plugin](./images/select_plugin.png)
 3. Select the new item in the tool tab (2D Dummy Car in the example) and click on it in rviz.
    ![select_dummy_car](./images/select_dummy_car.png)
+
+### Interactive manipulation
+
+You can interactively manipulate the object.
+
+1. Select "Tool Properties" in rviz.
+2. Select the corresponding object tab in the Tool Properties.
+3. Turn the "Interactive" checkbox on.
+   ![tool_properties](./images/tool_properties.png)
+4. Select the item in the tool tab in you haven't chosen yet.
+5. Key commands are as follows.
+
+| action | key command                            |
+| ------ | -------------------------------------- |
+| ADD    | Shift + Click Right Button             |
+| MOVE   | Hold down Right Button + Drug and Drop |
+| DELETE | Alt + Click Right Button               |
diff --git a/common/tier4_perception_rviz_plugin/images/tool_properties.png b/common/tier4_perception_rviz_plugin/images/tool_properties.png
new file mode 100644
index 0000000000000..edd92ea9c0e20
Binary files /dev/null and b/common/tier4_perception_rviz_plugin/images/tool_properties.png differ