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 The above configuration assumes a ROS topic named `/mujoco/tactile_sensor` with a message of type [mujoco_tactile_sensor_plugin/TactileSensorData](https://github.com/isri-aist/MujocoTactileSensorPlugin/blob/main/msg/TactileSensorData.msg) being published by some node (e.g. [isri-aist/MujocoTactileSensorPlugin](https://github.com/isri-aist/MujocoTactileSensorPlugin)).
 The tactile sensor frame (e.g. `jvrc1_right_elbow_tactile_sensor`) must be defined in a URDF model (e.g. `jvrc_description/urdf/jvrc1.urdf`).
 The force sensor (e.g. `RightElbowForceSensor`) must be defined in robot module (e.g. `mc_rtc/src/mc_robots/jvrc1.cpp`).
+
+For system details for using tactile sensor with mc_mujoco, please refer to [here](doc/McMujocoTactileSensorSytem.md).
diff --git a/doc/McMujocoTactileSensorSytem.md b/doc/McMujocoTactileSensorSytem.md
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+## System details for using tactile sensor with mc_mujoco
+
+### Data flow
+MujocoTactileSensorPlugin (MuJoCo plugin) simulates the tactile sensor and publishes the data as a ROS topic. Then, McRtcTactileSensorPlugin (mc_rtc plugin) subscribes the data and sets them as measured values in mc_rtc's force sensor.
+
+![McMujocoTactileSensorSytem.png](images/McMujocoTactileSensorSytem.png)
+
+### Model and configuration files
+
+Typical descriptions of tactile sensors in the model and configuration files are as follows:
+
+- MJCF (XML)
+   - The `site` (i.e., frame) of the tactile sensor (\#Frame1)
+   - `topic_name` to publish the tactile sensor data
+- URDF
+   - Dummy (fixed) joint and link for the frame of the tactile sensor (\#Frame2)
+- mc_rbdyn::RobotModule
+   - Force sensor frame (\#Frame3)
+- Configuration file of the mc_rtc controller (e.g., YAML)
+   - Frame of contact (\#Frame4)
+- Configuration file of McRtcTactileSensorPlugin (e.g., YAML)
+   - Frame name of the tactile sensor defined in the URDF
+   - Force sensor name defined in the mc_rbdyn::RobotModule
+   - Topic name defined in the MJCF
+
+These descriptions are subject to the following constraints:
+
+- The parent link of \#Frame1, \#Frame2, \#Frame3, and \#Frame4 must all be identical.
+- The locations of \#Frame1 and \#Frame2 must be identical.
+- The locations of \#Frame1 and \#Frame3 do not have to be the same; dummy location (e.g., Identity) is acceptable for \#Frame3.
+- The locations of \#Frame1 and \#Frame4 do not have to be the same; however, they are the same in the main test case.
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