uplink — Push mock telemetry into a visualizer

s6 uplink opens a WebSocket connection and publishes synthetic telemetry snapshots for the visualizer to consume. It is a lightweight way to exercise the uplink path without running s6 track.

The emitted payload currently matches these binding paths:

• export.solver.B.tippoint3d_c

• export.solver.B.markerpoint3d_c

• export.solver.B.orientation_q

• export.flags.model_visible

Usage

# Publish forever to the default local visualizer backend
s6 uplink

# Target a different visualizer and slow the stream down
s6 uplink --uplink ws://127.0.0.1:4173/ws/uplink --hz 10

# Send a finite burst for testing
s6 uplink --count 50 --radius 0.05 --marker-offset 0.02

Flags

• --uplink: WebSocket URL for the visualizer uplink endpoint.

• --hz: Publish rate in frames per second, default 20.0.

• --radius: Radius of the synthetic tip motion, default 0.02.

• --marker-offset: X-axis offset between the tip and marker points, default 0.01.

• --count: Number of frames to send before exiting; 0 runs forever.

How it works

• Imports websockets at runtime and raises a clear error if it is missing.

• Generates a sinusoidal tip vector around the origin in solver space.

• Reuses that vector for the marker point with only the X offset applied.

• Sends JSON snapshots with the export root object expected by the visualizer.

• Sleeps for 1 / --hz seconds between messages.