diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst
index e8ebdc26..87d2e263 100644
--- a/doc/mjwarp/index.rst
+++ b/doc/mjwarp/index.rst
@@ -624,11 +624,13 @@ Warnings are provided when memory requirements exceed existing allocations durin
   Increase the value of this setting in the XML / :ref:`mjSpec` / :ref:`mjModel`. Importantly, this change must be made
   to the :ref:`mjModel` instance that is provided to :func:`mjw.put_model <mujoco_warp.put_model>` and
   :func:`mjw.make_data <mujoco_warp.make_data>` / :func:`mjw.put_data <mujoco_warp.put_data>`.
-
 - ``mjw.Option.contact_sensor_maxmatch``: The maximum number of contact matches for a
   :ref:`contact sensor<sensor-contact>`'s matching criteria has been exceeded. Increase the value of this MJWarp-only
   setting `m.opt.contact_sensor_maxmatch`. Alternatively, refactor the contact sensor matching criteria, for example if
   the 2 geoms of interest are known, specify ``geom1`` and ``geom2``.
+- ``height field collision overflow``: The number of potential contacts generated by a height field exceeds
+  :ref:`mjMAXCONPAIR <glNumeric>` and some contacts are ignored. To resolve this warning, reduce the height field
+  resolution or reduce the size of the geom interacting with the height field.
 
 Compilation
 -----------