I believe the writer is using the term "generally octahedral" much like when I say an orbital is "roughly $\ce{sp^2}$ hybridized." Few compounds are perfect octahedrons, few orbitals are exactly $\ce{sp^2}$ hybridized. If a molecule's structure looks generally like an octahedron, but it isn't perfectly octahedral, then we can say that it is "generally octahedral" or better yet, a distorted octahedron.
A useful way to determine if something is a perfect octahedron, tetrahedron, $\ce{sp^2}$ orbital, whatever, is through the use of symmetry. If any two atoms can be interconverted by rotation about an axis of symmetry or reflection through a plane of symmetry, then those atoms must be equivalent. If two atoms cannot be interconverted by such symmetry operations than they must be non-equivalent. Point groups and the symmetry elements they contain can make for an entire chemistry course, but the essentials can be learned quickly. Here is a useful reference (one of many, you can google "molecular symmetry, point groups" to find something more to your liking) on the subject.
Let's use the following drawing as a starting point to discuss the geometry of $\ce{BrSF_5}$. We will use the term "axial" or "apical" to describe the F and Br atoms at the top and bottom of the drawing respectively, while the remaining 4 fluorines are termed "equatorial.
Applying symmetry to $\ce{BrSF_5}$ tells us the following
- There is a 4-fold rotational axis passing through the Br-S-F(axial) atoms
- There are 4 planes of symmetry containing this axis
The rotational axis interconverts the 4 equatorial fluorine atoms, therefor they are equivalent as are the 4 F-S-F angles which must be (360/4) 90 degrees. Further, at least as I've drawn it here, the same rotational axis interconverts the bromine with itself (it sounds silly, but think about it) and the axial fluorine with itself. Therefor, the Br-S-F(axial) angle must be 180 degrees. There is no plane of symmetry containing the S and 4 equatorial fluorines (because reflection through such a plane does not interconvert what's above the plane (F) with what's below the plane (Br). This is a very important observation. It tells us that the Br-S-F(equatorial) angle cannot be exactly 90 degrees. It might be 90.001 or 85.278 degrees, but it can't be exactly 90 degrees - because of the lack of symmetry. Symmetry can only tell us if things are the same or different, it can't tell us if different things differ by a lot or a little, we need to use our other chemical skills to do that. So if the angle is not 90 degrees, then the S and 4 equatorial fluorines do not lie in a common plane; the 4 equatorial fluorines must be canted towards either the axial fluorine or the axial bromine. I don't know which of those two options is preferred, but I would guess that the energy difference between these two forms is small and the barrier to their interconversion is small, so I might expect rapid interconversion between these 2 slightly distorted octahedral forms at room temperature. At absolute zero, or perhaps in a crystal, only one of these two forms would prevail.