diff --git a/unity/Editor/Components/MjActuatorEditor.cs b/unity/Editor/Components/MjActuatorEditor.cs
index 9ac963cc..10fc7de8 100644
--- a/unity/Editor/Components/MjActuatorEditor.cs
+++ b/unity/Editor/Components/MjActuatorEditor.cs
@@ -35,6 +35,7 @@ namespace Mujoco {
     private SerializedProperty _biasPrm;
     // Position actuator properties.
     private SerializedProperty _kp;
+    private SerializedProperty _kvp;
     // Velocity actuator properties.
     private SerializedProperty _kv;
     // Cylinder actuator properties.
@@ -70,6 +71,7 @@ namespace Mujoco {
       _biasPrm = customParams.FindPropertyRelative("BiasPrm");
       // Position actuator properties.
       _kp = customParams.FindPropertyRelative("Kp");
+      _kvp = customParams.FindPropertyRelative("Kvp");
       // Velocity actuator properties.
       _kv = customParams.FindPropertyRelative("Kv");
       // Cylinder actuator properties.
@@ -166,6 +168,7 @@ namespace Mujoco {
 
     private void EditPositionParams(MjActuator.CustomParameters parameters) {
       EditorGUILayout.PropertyField(_kp);
+      EditorGUILayout.PropertyField(_kvp, new GUIContent("Kv"));
     }
 
     private void EditVelocityParams(MjActuator.CustomParameters parameters) {
diff --git a/unity/Runtime/Components/MjActuator.cs b/unity/Runtime/Components/MjActuator.cs
index e44b8579..da643c15 100644
--- a/unity/Runtime/Components/MjActuator.cs
+++ b/unity/Runtime/Components/MjActuator.cs
@@ -164,11 +164,16 @@ public class MjActuator : MjComponent {
     [AbsoluteValue]
     public float Kp = 1.0f;
 
-    public void PositionToMjcf(XmlElement mjcf) {
+    [AbsoluteValue]
+    public float Kvp;
+
+      public void PositionToMjcf(XmlElement mjcf) {
       mjcf.SetAttribute("kp", MjEngineTool.MakeLocaleInvariant($"{Math.Abs(Kp)}"));
+      mjcf.SetAttribute("kv", MjEngineTool.MakeLocaleInvariant($"{Math.Abs(Kvp)}"));
     }
     public void PositionFromMjcf(XmlElement mjcf) {
       Kp = mjcf.GetFloatAttribute("kp", defaultValue: 1.0f);
+      Kvp = mjcf.GetFloatAttribute("kv", defaultValue: 0f);
     }
 
     //// Velocity actuator parameters.