Reformat into subpage.

Author: alexmillane

docs/index.rst

@@ -227,17 +227,12 @@ TABLE OF CONTENTS
    pages/concepts/concept_overview
    pages/concepts/concept_environment_design
    pages/concepts/scene/index
-   pages/concepts/embodiment/concept_embodiment_design
-   pages/concepts/embodiment/concept_teleop_devices_design
-   pages/concepts/task/concept_tasks_design
-   pages/concepts/task/concept_metrics_design
+   pages/concepts/embodiment/index
+   pages/concepts/task/index
    pages/concepts/concept_environment_compilation
    pages/concepts/concept_policy_design
    pages/concepts/concept_remote_policies_design
 
-   .. pages/concepts/scene/concept_scene_design
-   .. pages/concepts/scene/concept_assets_design
-   .. pages/concepts/scene/concept_affordances_design
 
 
 .. toctree::

docs/pages/concepts/concept_overview.rst

@@ -47,7 +47,7 @@ to building a library of environment *parts*.
 In this section of the documentation, we will describe the design of each of these sub-pieces:
 Scene, Embodiment, and Task.
 
-* :doc:`scene/concept_scene_design`
+* :doc:`scene/index`
 
 .. In the core of the workflow, we have three main components, **Scene**, **Embodiment**, and **Task**. We compile most of the managers of the
 .. manager-based RL environment from these three components. We strongly incline towards keeping these components as independent as possible. This

…embodiment/concept_embodiment_design.rst docs/pages/concepts/embodiment/index.rstdocs/pages/concepts/embodiment/concept_embodiment_design.rst renamed to docs/pages/concepts/embodiment/index.rst docs/pages/concepts/embodiment/concept_embodiment_design.rst renamed to docs/pages/concepts/embodiment/index.rst

@@ -170,3 +170,13 @@ Usage Examples
        scene=scene,
        task=task
    )
+
+More details
+------------
+
+The rest of this section will describe further details of the embodiment component.
+
+.. toctree::
+   :maxdepth: 1
+
+   concept_teleop_devices_design

docs/pages/concepts/scene/concept_assets_design.rst

@@ -1,7 +1,7 @@
 Assets Design
 =============
 
-Task me back to :doc:`index`
+Take me back to :doc:`index`
 
 Assets are the building blocks of simulation environments - robots, objects, backgrounds, and scene elements.
 The asset system provides a registry system for managing these components.

…s/concepts/task/concept_tasks_design.rst docs/pages/concepts/task/index.rstdocs/pages/concepts/task/concept_tasks_design.rst renamed to docs/pages/concepts/task/index.rst docs/pages/concepts/task/concept_tasks_design.rst renamed to docs/pages/concepts/task/index.rst

@@ -131,3 +131,13 @@ The order of the tasks in the list determines the order in which subtasks must b
 **Available Examples**
 
 - **PutAndCloseDoorTask**: Pick up and move an object to a destination location and then close a door (within **GR1PutAndCloseDoorEnvironment**).
+
+More details
+------------
+
+The rest of this section will describe further details of the task component.
+
+.. toctree::
+   :maxdepth: 1
+
+   concept_metrics_design

docs/pages/example_workflows/locomanipulation/step_1_environment_setup.rst

@@ -116,7 +116,7 @@ currently set manually to create an achievable task.
     scene = Scene(assets=[background, pick_up_object, blue_sorting_bin])
 
 Now we bring everything together into a IsaacLab-Arena scene.
-See :doc:`../../concepts/scene/concept_scene_design` for scene composition details.
+See :doc:`../../concepts/scene/index` for scene composition details.
 
 **4. Create the Locomanip Pick and Place Task**
 
@@ -129,7 +129,7 @@ environment: pick up the specified object and place it in the blue sorting bin.
 
 The task knows about the key objects involved (what to pick, where to place it, and the environment context) and will
 provide rewards, compute observations, and determine when the episode should end.
-See :doc:`../../concepts/task/concept_tasks_design` for task creation details.
+See :doc:`../../concepts/task/index` for task creation details.
 
 **5. Create the IsaacLab Arena Environment**
 

docs/pages/example_workflows/reinforcement_learning/step_1_environment_setup.rst

@@ -109,7 +109,7 @@ is positioned below to provide physical support.
     scene = Scene(assets=assets)
 
 Now we bring everything together into an IsaacLab-Arena scene.
-See :doc:`../../concepts/scene/concept_scene_design` for scene composition details.
+See :doc:`../../concepts/scene/index` for scene composition details.
 
 **4. Create the Lift Object RL Task**
 
@@ -133,7 +133,7 @@ The task includes:
 - **Termination Conditions**: Object dropped or timeout
 - **Success Condition**: Object reaches target position (disabled by the ``--rl_training_mode`` flag for training)
 
-See :doc:`../../concepts/task/concept_tasks_design` for task creation details.
+See :doc:`../../concepts/task/index` for task creation details.
 
 **5. Create the IsaacLab Arena Environment**
 

docs/pages/example_workflows/sequential_static_manipulation/step_1_environment_setup.rst

@@ -321,7 +321,7 @@ the relational object placement APIs. The object is placed within a randomzation
     sequential_task = PutAndCloseDoorTask(subtasks=[pick_and_place_task, close_door_task])
 
 The sequential task is composed of two atomic subtasks: the pick and place task and the close door task.
-See :doc:`../../concepts/task/concept_tasks_design` for task creation details.
+See :doc:`../../concepts/task/index` for task creation details.
 
 
 **4. Compose the Scene**
@@ -331,7 +331,7 @@ See :doc:`../../concepts/task/concept_tasks_design` for task creation details.
     scene = Scene(assets=[kitchen_background, pickup_object, light, refrigerator, refrigerator_shelf])
 
 Now we bring everything together into an IsaacLab-Arena scene.
-See :doc:`../../concepts/scene/concept_scene_design` for scene composition details.
+See :doc:`../../concepts/scene/index` for scene composition details.
 
 
 **5. Create the IsaacLab Arena Environment**

docs/pages/example_workflows/static_manipulation/step_1_environment_setup.rst

@@ -100,7 +100,7 @@ currently set manually to create an achievable task. In this case, we place the
     scene = Scene(assets=assets)
 
 Now we bring everything together into an IsaacLab-Arena scene.
-See :doc:`../../concepts/scene/concept_scene_design` for scene composition details.
+See :doc:`../../concepts/scene/index` for scene composition details.
 
 **4. Create the Open Door Task**
 
@@ -109,7 +109,7 @@ See :doc:`../../concepts/scene/concept_scene_design` for scene composition detai
     task = OpenDoorTask(microwave, openness_threshold=0.8, reset_openness=0.2)
 
 The ``OpenDoorTask`` encapsulates the goal of this environment: open the microwave door.
-See :doc:`../../concepts/task/concept_tasks_design` for task creation details.
+See :doc:`../../concepts/task/index` for task creation details.
 
 **5. Create the IsaacLab Arena Environment**
 

docs/pages/quickstart/first_arena_env.rst

@@ -176,7 +176,7 @@ space, observation space, and cameras. ``droid_abs_joint_pos`` is the DROID setu
 Robotiq 2F-85 gripper) with absolute joint-position control.
 
 Swapping ``--embodiment`` replaces the robot entirely — observations, actions, and sensors update
-automatically. See :doc:`../concepts/embodiment/concept_embodiment_design` for details.
+automatically. See :doc:`../concepts/embodiment/index` for details.
 
 
 Step 5: Compose the Scene
@@ -190,7 +190,7 @@ The ``Scene`` collects all physical assets. The embodiment is kept separate —
 to ``IsaacLabArenaEnvironment`` rather than added to the scene — because the robot interacts with
 the scene rather than being part of it.
 
-See :doc:`../concepts/scene/concept_scene_design` for scene composition details.
+See :doc:`../concepts/scene/index` for scene composition details.
 
 
 Step 6: Define the Task
@@ -214,7 +214,7 @@ It also attaches metrics (``SuccessRateMetric``, ``ObjectMovedRateMetric``) that
 collects at the end of each episode. These metrics will report the proportion of successful episodes,
 as well as the proportion of episodes in which the object was moved.
 
-See :doc:`../concepts/task/concept_tasks_design` for creating custom tasks.
+See :doc:`../concepts/task/index` for creating custom tasks.
 
 
 Step 7: Assemble the Environment