diff --git a/README.md b/README.md
index 8bbe69e..d39d2fa 100644
--- a/README.md
+++ b/README.md
@@ -195,6 +195,8 @@ Could map to the following hardware interface:
   </tbody>
 </table>
 
+> [!NOTE]
+> The `torque` and `force` command/state interfaces are semantically equivalent to `effort`, and map to the same underlying data in the sim.
 
 Switching actuator/control types on the fly is an [open issue](#13).
 
diff --git a/src/mujoco_system_interface.cpp b/src/mujoco_system_interface.cpp
index f1797ae..773296b 100644
--- a/src/mujoco_system_interface.cpp
+++ b/src/mujoco_system_interface.cpp
@@ -767,9 +767,10 @@ std::vector<hardware_interface::StateInterface> MujocoSystemInterface::export_st
         {
           new_state_interfaces.emplace_back(joint.name, hardware_interface::HW_IF_VELOCITY, &joint.velocity);
         }
-        else if (state_if.name == hardware_interface::HW_IF_EFFORT)
+        else if (state_if.name == hardware_interface::HW_IF_EFFORT ||
+                 state_if.name == hardware_interface::HW_IF_TORQUE || state_if.name == hardware_interface::HW_IF_FORCE)
         {
-          new_state_interfaces.emplace_back(joint.name, hardware_interface::HW_IF_EFFORT, &joint.effort);
+          new_state_interfaces.emplace_back(joint.name, state_if.name, &joint.effort);
         }
       }
     }
@@ -915,10 +916,12 @@ std::vector<hardware_interface::CommandInterface> MujocoSystemInterface::export_
           if (joint.is_velocity_control_enabled || joint.is_velocity_pid_control_enabled)
             new_command_interfaces.emplace_back(joint.name, hardware_interface::HW_IF_VELOCITY, &joint.velocity_command);
         }
-        else if (command_if.name == hardware_interface::HW_IF_EFFORT)
+        else if (command_if.name == hardware_interface::HW_IF_EFFORT ||
+                 command_if.name == hardware_interface::HW_IF_TORQUE ||
+                 command_if.name == hardware_interface::HW_IF_FORCE)
         {
           if (joint.is_effort_control_enabled)
-            new_command_interfaces.emplace_back(joint.name, hardware_interface::HW_IF_EFFORT, &joint.effort_command);
+            new_command_interfaces.emplace_back(joint.name, command_if.name, &joint.effort_command);
         }
       }
     }
@@ -1007,10 +1010,12 @@ MujocoSystemInterface::perform_command_mode_switch(const std::vector<std::string
         }
         RCLCPP_INFO(get_logger(), "Joint %s: velocity control enabled (position, effort disabled)", joint_name.c_str());
       }
-      else if (interface_type == hardware_interface::HW_IF_EFFORT)
+      else if (interface_type == hardware_interface::HW_IF_EFFORT ||
+               interface_type == hardware_interface::HW_IF_TORQUE || interface_type == hardware_interface::HW_IF_FORCE)
       {
         joint_it->is_effort_control_enabled = true;
-        RCLCPP_INFO(get_logger(), "Joint %s: effort control enabled (position, velocity disabled)", joint_name.c_str());
+        RCLCPP_INFO(get_logger(), "Joint %s: %s control enabled (position, velocity disabled)", joint_name.c_str(),
+                    interface_type.c_str());
       }
     }
     else
@@ -1025,7 +1030,8 @@ MujocoSystemInterface::perform_command_mode_switch(const std::vector<std::string
         joint_it->is_velocity_control_enabled = false;
         joint_it->is_velocity_pid_control_enabled = false;
       }
-      else if (interface_type == hardware_interface::HW_IF_EFFORT)
+      else if (interface_type == hardware_interface::HW_IF_EFFORT ||
+               interface_type == hardware_interface::HW_IF_TORQUE || interface_type == hardware_interface::HW_IF_FORCE)
       {
         joint_it->is_effort_control_enabled = false;
       }
@@ -1272,7 +1278,8 @@ void MujocoSystemInterface::register_joints(const hardware_interface::HardwareIn
         last_joint_state.velocity =
             should_override_start_position ? mj_data_->qvel[joint_state.mj_vel_adr] : get_initial_value(state_if);
       }
-      else if (state_if.name == hardware_interface::HW_IF_EFFORT)
+      else if (state_if.name == hardware_interface::HW_IF_EFFORT || state_if.name == hardware_interface::HW_IF_TORQUE ||
+               state_if.name == hardware_interface::HW_IF_FORCE)
       {
         // We never set data for effort from an initial conditions file, so just default to the initial value if it exists.
         last_joint_state.effort = get_initial_value(state_if);
@@ -1392,7 +1399,9 @@ void MujocoSystemInterface::register_joints(const hardware_interface::HardwareIn
           }
         }
       }
-      else if (command_if.name.find(hardware_interface::HW_IF_EFFORT) != std::string::npos)
+      else if (command_if.name.find(hardware_interface::HW_IF_EFFORT) != std::string::npos ||
+               command_if.name.find(hardware_interface::HW_IF_TORQUE) != std::string::npos ||
+               command_if.name.find(hardware_interface::HW_IF_FORCE) != std::string::npos)
       {
         // Effort command interface:
         // Direct control for effort actuators; not supported for position or velocity actuators.
diff --git a/test/test_resources/test_robot.urdf b/test/test_resources/test_robot.urdf
index abee6a0..ccc9f89 100644
--- a/test/test_resources/test_robot.urdf
+++ b/test/test_resources/test_robot.urdf
@@ -167,7 +167,10 @@
         <param name="initial_value">0.0</param>
       </state_interface>
       <state_interface name="velocity"/>
+
+      <!-- Effort and torque are semantically different but map to the same underlying data. -->
       <state_interface name="effort"/>
+      <state_interface name="torque"/>
     </joint>
     <joint name="joint2">
       <command_interface name="position"/>
@@ -178,7 +181,10 @@
         <param name="initial_value">0.0</param>
       </state_interface>
       <state_interface name="velocity"/>
+
+       <!-- Effort and torque are semantically different but map to the same underlying data. -->
       <state_interface name="effort"/>
+      <state_interface name="torque"/>
     </joint>
 
     <!-- For cameras, the sensor name _must_ match the camera name in the MJCF -->