Update Programming/simulation chapter.

PiperOrigin-RevId: 847424298
Change-Id: Icc6efb05dee5e67a5813ed04caa15a5703e59aee

doc/python.rst

@@ -825,9 +825,9 @@ The basic usage form is
 - ``data`` is either a single instance of MjData or a sequence of compatible MjDatas of length ``nthread``.
 - ``initial_state`` is an ``nbatch x nstate`` array, with ``nbatch`` initial states of size ``nstate``, where
   ``nstate = mj_stateSize(model, mjtState.mjSTATE_FULLPHYSICS)`` is the size of the
-  :ref:`full physics state<geFullPhysics>`.
+  :ref:`full physics state<siFullPhysics>`.
 - ``control`` is a ``nbatch x nstep x ncontrol`` array of controls. Controls are by default the ``mjModel.nu`` standard
-  actuators, but any combination of :ref:`user input<geInput>` arrays can be specified by passing an optional
+  actuators, but any combination of :ref:`user input<siInput>` arrays can be specified by passing an optional
   ``control_spec`` bitflag.
 
 If a rollout diverges, the current state and sensor values are used to fill the remainder of the trajectory.
@@ -1084,7 +1084,7 @@ non-exhaustive list of specific mujoco-py features:
    The MuJoCo library’s computation is deterministic given a specific input, as explained in the :ref:`Programming
    section <Simulation>`. mujoco-py implements methods for getting and setting some of the relevant fields (and
    similarly ``dm_control.Physics`` offers methods that correspond to the flattened case). This functionality is
-   described in the :ref:`state <geState>` section.
+   described in the :ref:`State and Control<siStateControl>` section.
 
 ``sim.model.get_joint_qvel_addr(joint_name)``
    This is a convenience method in mujoco-py that returns a list of contiguous indices corresponding to this joint. The