The extension can be found here: Yii Extensions: ESitemap
This is an extension that provides class based actions which can be applied to any controller to generate a valid sitemap document. It comes with both a sitemap.xml option and a 'human readable' option.
You can configure any ActiveRecord class to be used as a source of site links, simply pass in the configuration options for the proper view of the object you wish to display.
I'm looking for feedback and ways to improve, so please share any comments/suggestions that you may have, either here, on the ESitemap Extension, or on the forum thread for the extension.
Hope it's helpful!