diff --git a/doc/includes/references.h b/doc/includes/references.h
index d951fa750e..c6c06f5c6a 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -179,8 +179,8 @@ struct mjData_ {
   //-------------------- end of info header
 
   // buffers
-  void*   buffer;            // main buffer; all pointers point in it                (nbuffer bytes)
-  void*   arena;             // arena+stack buffer                     (nstack*sizeof(mjtNum) bytes)
+  void*   buffer;            // main buffer; all pointers point in it            (nbuffer bytes)
+  void*   arena;             // arena+stack buffer                               (narena bytes)
 
   //-------------------- main inputs and outputs of the computation
 
diff --git a/include/mujoco/mjdata.h b/include/mujoco/mjdata.h
index 344c688e7f..7c5ecb50dd 100644
--- a/include/mujoco/mjdata.h
+++ b/include/mujoco/mjdata.h
@@ -207,8 +207,8 @@ struct mjData_ {
   //-------------------- end of info header
 
   // buffers
-  void*   buffer;            // main buffer; all pointers point in it                (nbuffer bytes)
-  void*   arena;             // arena+stack buffer                     (nstack*sizeof(mjtNum) bytes)
+  void*   buffer;            // main buffer; all pointers point in it            (nbuffer bytes)
+  void*   arena;             // arena+stack buffer                               (narena bytes)
 
   //-------------------- main inputs and outputs of the computation
 
diff --git a/introspect/structs.py b/introspect/structs.py
index 47ad0e6af6..f24f8dd1b3 100644
--- a/introspect/structs.py
+++ b/introspect/structs.py
@@ -4329,14 +4329,14 @@
                  type=PointerType(
                      inner_type=ValueType(name='void'),
                  ),
-                 doc='main buffer; all pointers point in it                (nbuffer bytes)',  # pylint: disable=line-too-long
+                 doc='main buffer; all pointers point in it            (nbuffer bytes)',  # pylint: disable=line-too-long
              ),
              StructFieldDecl(
                  name='arena',
                  type=PointerType(
                      inner_type=ValueType(name='void'),
                  ),
-                 doc='arena+stack buffer                     (nstack*sizeof(mjtNum) bytes)',  # pylint: disable=line-too-long
+                 doc='arena+stack buffer                               (narena bytes)',  # pylint: disable=line-too-long
              ),
              StructFieldDecl(
                  name='qpos',