diff --git a/dm_control/mjcf/schema.xml b/dm_control/mjcf/schema.xml
index 28dce236..004e64be 100644
--- a/dm_control/mjcf/schema.xml
+++ b/dm_control/mjcf/schema.xml
@@ -1417,6 +1417,7 @@
                 <attribute name="damping" type="float"/>
                 <attribute name="frictionloss" type="float"/>
                 <attribute name="user" type="array" array_type="float"/>
+                <attribute name="actuatorgravcomp" type="keyword" valid_values="false true"/>
               </attributes>
             </element>
             <element name="freejoint" on_demand="true" namespace="joint">