Sims Implementation Map

Where the math here meets the code there. Each row links a research page (this wiki) to the
module that implements it in the sims (code) wiki, tagged by subsystem (the
subsystem_decomposition axis) and pointed at the logged
evidence (evidence_map). A one-directional, external window via the
sims_wiki/ / sims_logs/ symlinks — schemas stay distinct, this is a map, not a merge. Code/log
links resolve in Obsidian (through the symlinks), not on GitHub.

Research page (here)	Code page (sims wiki)	Subsystem	Evidence	Why linked
subsystem_decomposition	com_controller · breve_controller	[com, base, ee]	com_smoke	The spine: the $3\times 3$ CoM + $9\times 9$ base+EE split these modules implement.
coordinated_control	breve_controller	[com, base, ee]	com_smoke	The circumcentroidal coordinated base+arm control law.
generalized_jacobian	robot	[base, ee]	${\sigma }_G$ trace	Jacobian assembly + the conditioning ${\sigma }_G$ that’s measured/logged.
circumcentroidal_decoupling	com_controller	[com, base, ee]	com_smoke	The $\mathbf{\Gamma }$ transform decoupling CoM from attitude+EE.
singularity_threshold_cascade	breve_controller	[base, ee]	${\sigma }_G$ / derate	The layered derate stack (incl. Tikhonov) engaged near a singularity.
discretization_stability_omega_b	breve_controller	[base, ee]	${\omega }_b$ in com_smoke	The forward-Euler ripple — cured in code by implicit base-damping integration.
reaction_null_space	robot	[base]	—	Null-space kernel of the (redundant) generalized Jacobian.
steady_state_error_floor	base_guidance	[base, ee]	—	The cruise-lag error floor set by the outer guidance loop.
trajectory_tracking	ee_guidance	[ee]	—	Closed-loop end-effector tracking error dynamics + feedforward.
next_best_view	target_finder	[ee]	—	Inspection viewpoint / target selection.

Add a row when a new result or topic gains an implementation. Keep the why to one line; tag the
subsystem it touches ([base, ee] for circumcentroidal-block claims — never one alone) and point
at logged evidence when it exists.