diff --git a/mujoco_ros/CHANGELOG.md b/mujoco_ros/CHANGELOG.md
index 9dac3139..4b86f298 100644
--- a/mujoco_ros/CHANGELOG.md
+++ b/mujoco_ros/CHANGELOG.md
@@ -14,6 +14,8 @@
 * replaced `boost::shared_ptr` with `std::shared_ptr` or `std::unique_ptr` wherever possible (ROS 1 fast intra-process message-passing requires boost::shared_ptr).
 * replaced `shared_ptr` with `unique_ptr` wherever possible.
 * replaced smart pointer constructor initialization with `make_shared` or `make_unique` wherever possible.
+* Updated to MuJoCo library version 2.3.7.
+* * Added [jointactuatorfrc](https://mujoco.readthedocs.io/en/2.3.7/XMLreference.html#sensor-jointactuatorfrc) support in `mujoco_ros_sensors`.
 
 Contributors: @DavidPL1, @acodeodyssey
 
@@ -48,7 +50,7 @@ Contributors: @DavidPL1, @LeroyR, @rhaschke
 
 ### Added
 * Updated to MuJoCo library version 2.3.6.
-* Added a `step(num_steps=1, blocking=true)` public function./
+* Added a `step(num_steps=1, blocking=true)` public function.
 * Unit tests for plugin loading and resetting and running callbacks correctly.
 * Now automatically building with AVX instructions, if possible.
 * CMake tooling borrowed from deepminds MuJoCo repo and https://github.com/osjacky430/ros_pkg_template/.
diff --git a/mujoco_ros/CMakeLists.txt b/mujoco_ros/CMakeLists.txt
index e6c5001b..6bba83c7 100644
--- a/mujoco_ros/CMakeLists.txt
+++ b/mujoco_ros/CMakeLists.txt
@@ -58,7 +58,7 @@ configure_project_option(
 )
 
 # Find MuJoCo
-find_package(mujoco 2.3.6 REQUIRED)
+find_package(mujoco 2.3.7 REQUIRED)
 find_library(GLFW libglfw.so.3)
 
 # ###############################################
diff --git a/mujoco_ros_sensors/src/mujoco_sensor_handler_plugin.cpp b/mujoco_ros_sensors/src/mujoco_sensor_handler_plugin.cpp
index 0a524a55..1b94a906 100644
--- a/mujoco_ros_sensors/src/mujoco_sensor_handler_plugin.cpp
+++ b/mujoco_ros_sensors/src/mujoco_sensor_handler_plugin.cpp
@@ -84,6 +84,7 @@ bool MujocoRosSensorsPlugin::load(const mjModel *model, mjData *data)
 	SENSOR_STRING[mjSENS_ACTUATORFRC]    = "actuatorfrc";
 	SENSOR_STRING[mjSENS_BALLQUAT]       = "ballquat";
 	SENSOR_STRING[mjSENS_BALLANGVEL]     = "ballangvel";
+	SENSOR_STRING[mjSENS_JOINTACTFRC]    = "jointactfrc";
 	SENSOR_STRING[mjSENS_JOINTLIMITPOS]  = "jointlimitpos";
 	SENSOR_STRING[mjSENS_JOINTLIMITVEL]  = "jointlimitvel";
 	SENSOR_STRING[mjSENS_JOINTLIMITFRC]  = "jointlimitfrc";
@@ -335,6 +336,7 @@ void MujocoRosSensorsPlugin::lastStageCallback(const mjModel *model, mjData *dat
 					case mjSENS_ACTUATORPOS:
 					case mjSENS_ACTUATORVEL:
 					case mjSENS_ACTUATORFRC:
+					case mjSENS_JOINTACTFRC:
 					case mjSENS_JOINTLIMITPOS:
 					case mjSENS_JOINTLIMITVEL:
 					case mjSENS_JOINTLIMITFRC:
@@ -572,6 +574,7 @@ void MujocoRosSensorsPlugin::initSensors(const mjModel *model, mjData *data)
 			case mjSENS_ACTUATORPOS:
 			case mjSENS_ACTUATORVEL:
 			case mjSENS_ACTUATORFRC:
+			case mjSENS_JOINTACTFRC:
 			case mjSENS_JOINTLIMITPOS:
 			case mjSENS_JOINTLIMITVEL:
 			case mjSENS_JOINTLIMITFRC: