diff --git a/dm_control/mjcf/schema.xml b/dm_control/mjcf/schema.xml
index 26d08769..41eb9606 100644
--- a/dm_control/mjcf/schema.xml
+++ b/dm_control/mjcf/schema.xml
@@ -249,12 +249,14 @@
             <attribute name="axis" type="array" array_type="float" array_size="3"/>
             <attribute name="springdamper" type="array" array_type="float" array_size="2"/>
             <attribute name="limited" type="keyword" valid_values="false true auto"/>
+            <attribute name="actuatorfrclimited" type="keyword" valid_values="false true auto"/>
             <attribute name="solreflimit" type="array" array_type="float" array_size="2"/>
             <attribute name="solimplimit" type="array" array_type="float" array_size="5"/>
             <attribute name="solreffriction" type="array" array_type="float" array_size="2"/>
             <attribute name="solimpfriction" type="array" array_type="float" array_size="5"/>
             <attribute name="stiffness" type="float"/>
             <attribute name="range" type="array" array_type="float" array_size="2"/>
+            <attribute name="actuatorfrcrange" type="array" array_type="float" array_size="2"/>
             <attribute name="margin" type="float"/>
             <attribute name="ref" type="float"/>
             <attribute name="springref" type="float"/>
@@ -550,12 +552,14 @@
                 <attribute name="axis" type="array" array_type="float" array_size="3"/>
                 <attribute name="springdamper" type="array" array_type="float" array_size="2"/>
                 <attribute name="limited" type="keyword" valid_values="false true"/>
+                <attribute name="actuatorfrclimited" type="keyword" valid_values="false true"/>
                 <attribute name="solreflimit" type="array" array_type="float" array_size="2"/>
                 <attribute name="solimplimit" type="array" array_type="float" array_size="5"/>
                 <attribute name="solreffriction" type="array" array_type="float" array_size="2"/>
                 <attribute name="solimpfriction" type="array" array_type="float" array_size="5"/>
                 <attribute name="stiffness" type="float"/>
                 <attribute name="range" type="array" array_type="float" array_size="2"/>
+                <attribute name="actuatorfrcrange" type="array" array_type="float" array_size="2"/>
                 <attribute name="margin" type="float"/>
                 <attribute name="ref" type="float"/>
                 <attribute name="springref" type="float"/>
@@ -1968,6 +1972,15 @@
             <attribute name="actuator" type="reference" required="true"/>
           </attributes>
         </element>
+        <element name="jointactuatorfrc" repeated="true" namespace="sensor">
+          <attributes>
+            <attribute name="name" type="identifier"/>
+            <attribute name="noise" type="float"/>
+            <attribute name="cutoff" type="float"/>
+            <attribute name="user" type="array" array_type="float"/>
+            <attribute name="joint" type="reference" required="true"/>
+          </attributes>
+        </element>
         <element name="ballquat" repeated="true" namespace="sensor">
           <attributes>
             <attribute name="name" type="identifier"/>