Nice cleanup — the rewritten pages read much better than the old templated format. A few typos and minor wording issues I spotted below.

Nice work cleaning up the docs — the rewritten pages are a massive improvement over the old templated format. The restructuring into scene/, task/, embodiment/, and policy/ subdirectories makes the concept docs much more navigable.

A few things I spotted:

🤖 Isaac Lab Review Bot

Summary

This PR restructures the concepts documentation from a flat directory into a topical hierarchy (scene/, task/, embodiment/, policy/), rewrites the content to be clearer and more concise, and adds helpful new diagrams. The stated goal — eliminating AI-generated prose — is achieved well; the new text reads naturally and focuses on what the reader needs to know.

Design Assessment

Design is sound. The reorganization into subdirectories that mirror the Arena architecture (scene, task, embodiment, policy) is a good structural match. The new index.rst pages for each sub-section provide high-level orientation before drilling into details, which is a significant readability improvement over the previous flat list.

Findings

🔵 Suggestion: show_nav_level change from 2 to 1 — docs/conf.py
Changing show_nav_level from 2 to 1 means the sidebar navigation will show one fewer level of depth by default. This makes sense with the new subdirectory structure (where the sub-section index.rst files act as the second level), but it's worth verifying the sidebar feels right once the docs are deployed — with the deeper hierarchy, users might benefit from show_nav_level: 2 to see the leaf pages without clicking through.

🔵 Suggestion: Concept overview no longer links to sub-section pages — docs/pages/concepts/concept_overview.rst
The old overview had explicit :doc: links to each concept page (e.g., "See :doc:concept_scene_design for more details"). The new version relies on the reader finding sub-sections via the sidebar or toctree. This is fine for the restructured layout, but consider adding a brief sentence pointing to the sub-section pages (e.g., "The following pages describe each component in detail") to help users who land on the overview page directly.

🔵 Suggestion: Placeable affordance mentioned but not explained — docs/pages/concepts/scene/index.rst
Line 26 mentions Placeable alongside Openable as an example affordance, but the affordances page only documents Openable and Pressable. Either add a brief note about Placeable on the affordances page, or use Pressable in the scene index instead for consistency.

Test Coverage

No tests needed — this is a pure documentation change with no runtime code modifications.

CI Status

• ✅ Build the docs (pre-merge): passed
• ✅ Pre-commit: passed
• 🔄 Run tests: in progress (not relevant for a docs-only change)
• 🔄 Run policy-related tests with GR00T: in progress (not relevant for a docs-only change)

Verdict

APPROVE

Clean restructuring with no broken cross-references. The new docs are clearer, better organized, and notably less verbose than what they replace. The suggestions above are minor polish items — nothing blocking. Good work @alexmillane.