communicate navigation for Zathura through the terminal

[Elementarsatz]

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Problem

tldr: I am using a markup language that generates musical scores in pdf. It does not create Synctex files and point-and-click support is only available through URIs. Would it be possible to implement navigation in Zathura through the terminal by searching in the hyperlinks' addresses (URIs) to be able to write our own scripts for synchronization between pdf and text?

Hi. I am using Zathura + Vim +tmux to write Lilypond files. Lilypond generates PDFs with URI hyperlinks to be used as point-and-click interaction from the pdf to the text editor. As Zathura showed a message every time I clicked an URI saying that it did not know what to do, I was able to write a script using that information to have point-and-click.

I am now trying to communicate back to Zathura from Vim. It looks like the only way is through SyncTex, but Lilypond does not generate such a file. Would it be possible to implement a way to navigate in Zathura through the terminal by searching in the hyperlinks' addresses (URIs) so we can write our own scripts to communicate with it?

Expected behavior

writing a command similar to "hypersearch [URI address]" in the terminal that stays idle after running zathura gets you to the position of that hyperlink in the pdf.