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Use when asked to open the viewport, teleop a catheter, or demo fluoro navigation.\nlicense: Apache-2.0\nmetadata:\n  author: \"Isaac for Healthcare Team \u003Cisaac-for-healthcare-support@nvidia.com>\"\n  tags:\n    - isaac-for-healthcare\n    - i4h\n    - catheter-navigation\n    - viewport\n    - interactive\n---\n\n# i4h Catheter Navigation - Interactive Viewport\n\n## Purpose\n\nLaunch the interactive fluoroscopy viewport with real-time XPBD catheter physics, DSA, C-arm presets, and centerline-guided insertion. Requires a digital twin cache from [[i4h-catheter-navigation-digital-twin]].\n\n## Base Code\n\n```bash\nROOT=\"${I4H_WORKFLOWS:-$(git rev-parse --show-toplevel 2>\u002Fdev\u002Fnull)}\"\nif [ ! -d \"$ROOT\u002Fworkflows\u002Fcatheter_navigation\" ]; then\n  ROOT=\"${I4H_WORKFLOWS:-$HOME\u002Fi4h-workflows}\"\n  [ -d \"$ROOT\u002Fworkflows\u002Fcatheter_navigation\" ] || git clone https:\u002F\u002Fgithub.com\u002Fisaac-for-healthcare\u002Fi4h-workflows \"$ROOT\"\nfi\nexport I4H_WORKFLOWS=\"$ROOT\"; cd \"$ROOT\"\n```\n\n## Basics\n\n- Entry mode: `.\u002Fi4h run catheter_navigation interactive_viewport` (preferred)\n- Requires display (X11); remote\u002FVNC may need `QT_QPA_PLATFORM=xcb`.\n- Recommended flags: `--vessel-source real --insertion-axis centerline --dsa --key-hold-ttl 0.20`\n\n## Run\n\nRun the steps below in order. Each step is a separate bash call; variables persist in the local agent's tmux session.\n\n### Step 1 - resolve cache and run dir\n\n```bash\nREPO_ROOT=\"${I4H_WORKFLOWS:-$(git rev-parse --show-toplevel 2>\u002Fdev\u002Fnull)}\"; [ -d \"$REPO_ROOT\u002Fworkflows\u002Fcatheter_navigation\" ] || REPO_ROOT=\"$HOME\u002Fi4h-workflows\"\nWF_ROOT=\"${REPO_ROOT}\u002Fworkflows\u002Fcatheter_navigation\"\nRUN_DIR=\"${WF_ROOT}\u002Fruns\u002Fviewport_$(date +%Y%m%d_%H%M%S)\"\nmkdir -p \"${RUN_DIR}\u002Flogs\"\nln -sfn \"${RUN_DIR}\" \"${WF_ROOT}\u002Fruns\u002F.latest\"\n\nCACHE=\"${CACHE:-\u002Ftmp\u002Fct_cache}\"\nif [ ! -f \"${CACHE}\u002Fmu_volume.npy\" ]; then\n  echo \"viewport: set CACHE to a digital-twin dir (missing mu_volume.npy). Run i4h-catheter-navigation-digital-twin first.\" >&2\n  exit 1\nfi\n```\n\n### Step 2 - launch viewport\n\n```bash\nQT_QPA_PLATFORM=\"${QT_QPA_PLATFORM:-xcb}\" \\\n\"${REPO_ROOT}\u002Fi4h\" run catheter_navigation interactive_viewport --local \\\n  --run-args=\"--ct-dir ${CACHE} --vessel-source real --insertion-axis centerline --det-size 1024 --pixel-spacing-mm 0.6 --dsa\" \\\n  2>&1 | tee \"${RUN_DIR}\u002Flogs\u002Fviewport.log\"\n```\n\n## Controls (summary)\n\n| Input | Action |\n|---|---|\n| W \u002F S | Advance \u002F retract catheter along centerline |\n| A \u002F D | Rotate catheter CCW \u002F CW |\n| F \u002F C | Toggle vessel \u002F centerline overlay |\n| X | Toggle DSA contrast bolus |\n| 1-4 | C-arm presets (AP, LAO-45, Lateral, RAO-30) |\n| Space | Pause \u002F resume |\n| R | Reset catheter |\n| Q \u002F Esc | Quit |\n\nFull table: `workflows\u002Fcatheter_navigation\u002FREADME.md`.\n\n## Prerequisites\n\n- [[i4h-catheter-navigation-setup]] and [[i4h-catheter-navigation-digital-twin]] completed.\n- Display server (local X11 or remote desktop with keyboard focus).\n- GPU with >= 8 GB VRAM (16 GB recommended).\n\n## Limitations\n\n- Interactive GUI - not suitable for headless CI.\n- Keyboard focus on remote desktops may require pointer over the fluoro window.\n\n## Troubleshooting\n\n- **Error:** controls appear dead on remote X11 - Fix: `QT_QPA_PLATFORM=xcb` (Step 2 sets this by default).\n- **Error:** missing cache - Fix: run [[i4h-catheter-navigation-digital-twin]].\n- **Error:** Vulkan \u002F slang init failure - Fix: verify GPU driver; try Docker without `--local`.\n\n## Final Response\n\nReport `CACHE` used, note any display\u002Finput workarounds applied, and point to README controls if the user needs the full key map.\n",{"data":35,"body":45},{"name":4,"version":36,"description":6,"license":26,"metadata":37},"0.7.0",{"author":38,"tags":39},"Isaac for Healthcare Team \u003Cisaac-for-healthcare-support@nvidia.com>",[40,41,42,43,44],"isaac-for-healthcare","i4h","catheter-navigation","viewport","interactive",{"type":46,"children":47},"root",[48,57,64,70,76,410,416,458,464,469,476,934,940,1115,1121,1253,1265,1271,1297,1303,1316,1322,1368,1374,1386],{"type":49,"tag":50,"props":51,"children":53},"element","h1",{"id":52},"i4h-catheter-navigation-interactive-viewport",[54],{"type":55,"value":56},"text","i4h Catheter Navigation - Interactive Viewport",{"type":49,"tag":58,"props":59,"children":61},"h2",{"id":60},"purpose",[62],{"type":55,"value":63},"Purpose",{"type":49,"tag":65,"props":66,"children":67},"p",{},[68],{"type":55,"value":69},"Launch the interactive fluoroscopy viewport with real-time XPBD catheter physics, DSA, C-arm presets, and centerline-guided insertion. 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infrastructure","Use when asked to install, deploy, run, validate, troubleshoot, or stop NVIDIA AI-Q Blueprint infrastructure.\n",{"slug":8,"name":9,"logoUrl":10,"githubOrg":9},[1417,1420,1423],{"name":1418,"slug":1419,"type":15},"Deployment","deployment",{"name":1421,"slug":1422,"type":15},"Infrastructure","infrastructure",{"name":9,"slug":8,"type":15},"2026-07-14T05:29:06.667109",{"slug":1426,"name":1426,"fn":1427,"description":1428,"org":1429,"tags":1430,"stars":23,"repoUrl":24,"updatedAt":1438},"aiq-research","conduct deep research with AI-Q","Use when asked to run deep research or AI-Q research through a reachable NVIDIA AI-Q Blueprint backend.\n",{"slug":8,"name":9,"logoUrl":10,"githubOrg":9},[1431,1434,1435],{"name":1432,"slug":1433,"type":15},"Agents","agents",{"name":9,"slug":8,"type":15},{"name":1436,"slug":1437,"type":15},"Research","research","2026-07-14T05:28:06.816956",{"slug":1440,"name":1440,"fn":1441,"description":1442,"org":1443,"tags":1444,"stars":23,"repoUrl":24,"updatedAt":1450},"amc-run-sample-calibration","run AMC sample dataset calibration","Run end-to-end calibration on the shipped sample dataset (sdg_08_2_sample_data_010926.zip) against a running AMC microservice. Use when user says 'test sample dataset', 'run sample calibration', 'verify AMC install', or 'launch and test'.",{"slug":8,"name":9,"logoUrl":10,"githubOrg":9},[1445,1446,1447],{"name":1401,"slug":1402,"type":15},{"name":9,"slug":8,"type":15},{"name":1448,"slug":1449,"type":15},"Testing","testing","2026-07-17T05:29:03.913266",{"slug":1452,"name":1452,"fn":1453,"description":1454,"org":1455,"tags":1456,"stars":23,"repoUrl":24,"updatedAt":1467},"amc-run-video-calibration","calibrate video datasets with AutoMagicCalib","Calibrate a new dataset from pre-recorded video files via the AutoMagicCalib REST API. Use when user has local MP4s and says 'calibrate my videos', 'run AMC on these videos', or similar. For RTSP\u002Flive streams, use amc-run-rtsp-calibration instead.",{"slug":8,"name":9,"logoUrl":10,"githubOrg":9},[1457,1460,1463,1464],{"name":1458,"slug":1459,"type":15},"Automation","automation",{"name":1461,"slug":1462,"type":15},"Imaging","imaging",{"name":9,"slug":8,"type":15},{"name":1465,"slug":1466,"type":15},"Video","video","2026-07-17T05:28:53.905004",{"slug":1469,"name":1469,"fn":1470,"description":1471,"org":1472,"tags":1473,"stars":23,"repoUrl":24,"updatedAt":1482},"amc-setup-calibration-stack","deploy AutoMagicCalib microservice with Docker","Launch AutoMagicCalib microservice and web UI from NGC release images via Docker Compose. Use when user says 'deploy auto calibration', 'launch auto calibration', 'launch AMC', 'start MS+UI', or 'set up auto-magic-calib'. Requires NGC API key.",{"slug":8,"name":9,"logoUrl":10,"githubOrg":9},[1474,1475,1478,1479],{"name":1418,"slug":1419,"type":15},{"name":1476,"slug":1477,"type":15},"Docker","docker",{"name":9,"slug":8,"type":15},{"name":1480,"slug":1481,"type":15},"Operations","operations","2026-07-17T05:28:56.913999",{"slug":1484,"name":1484,"fn":1485,"description":1486,"org":1487,"tags":1488,"stars":23,"repoUrl":24,"updatedAt":1494},"cudaq-guide","develop quantum applications with CUDA-Q","CUDA-Q onboarding guide for installation, test programs, GPU simulation, QPU hardware, and quantum applications.",{"slug":8,"name":9,"logoUrl":10,"githubOrg":9},[1489,1490,1493],{"name":9,"slug":8,"type":15},{"name":1491,"slug":1492,"type":15},"Quantum Computing","quantum-computing",{"name":21,"slug":22,"type":15},"2026-07-14T05:26:58.898253",305,{"items":1497,"total":1648},[1498,1516,1532,1543,1555,1569,1582,1596,1607,1616,1630,1639],{"slug":1499,"name":1499,"fn":1500,"description":1501,"org":1502,"tags":1503,"stars":1513,"repoUrl":1514,"updatedAt":1515},"nemoclaw-user-guide","retrieve NemoClaw documentation and configuration","Guides human users' AI agents to the NemoClaw docs MCP server and canonical Fern documentation in Markdown form. Use when users ask how to install, configure, operate, troubleshoot, secure, or learn NemoClaw with an AI coding assistant. Trigger keywords - nemoclaw docs, use nemoclaw with ai agent, nemoclaw mcp docs, nemoclaw install help, nemoclaw quickstart, nemoclaw markdown docs, llms.txt, agent skills.",{"slug":8,"name":9,"logoUrl":10,"githubOrg":9},[1504,1507,1510],{"name":1505,"slug":1506,"type":15},"Documentation","documentation",{"name":1508,"slug":1509,"type":15},"MCP","mcp",{"name":1511,"slug":1512,"type":15},"Search","search",21777,"https:\u002F\u002Fgithub.com\u002FNVIDIA\u002FNemoClaw","2026-07-20T06:00:01.461044",{"slug":1517,"name":1517,"fn":1518,"description":1519,"org":1520,"tags":1521,"stars":1529,"repoUrl":1530,"updatedAt":1531},"mcore-build-and-dependency","manage Megatron-LM development environments","Container-based dev environment setup and dependency management for Megatron-LM. Covers acquiring and launching the CI container, uv package management, and updating uv.lock.",{"slug":8,"name":9,"logoUrl":10,"githubOrg":9},[1522,1525,1526],{"name":1523,"slug":1524,"type":15},"Containers","containers",{"name":1418,"slug":1419,"type":15},{"name":1527,"slug":1528,"type":15},"Python","python",17049,"https:\u002F\u002Fgithub.com\u002FNVIDIA\u002FMegatron-LM","2026-07-27T06:06:11.249662",{"slug":1533,"name":1533,"fn":1534,"description":1535,"org":1536,"tags":1537,"stars":1529,"repoUrl":1530,"updatedAt":1542},"mcore-bump-base-image","update NVIDIA PyTorch base images","Bump the NVIDIA PyTorch base image (`nvcr.io\u002Fnvidia\u002Fpytorch:YY.MM-py3`) used by Megatron-LM CI. Covers the two pin sites (GitHub CI in `docker\u002F.ngc_version.dev` and GitLab CI in `.gitlab\u002Fstages\u002F01.build.yml`), the post-bump CI loop (re-run functional tests, refresh golden values, mark broken tests), and the gotchas that bit PRs",{"slug":8,"name":9,"logoUrl":10,"githubOrg":9},[1538,1541],{"name":1539,"slug":1540,"type":15},"CI\u002FCD","ci-cd",{"name":1418,"slug":1419,"type":15},"2026-07-14T05:25:59.97109",{"slug":1544,"name":1544,"fn":1545,"description":1546,"org":1547,"tags":1548,"stars":1529,"repoUrl":1530,"updatedAt":1554},"mcore-cicd","manage CI\u002FCD pipelines for Megatron-LM","CI\u002FCD reference for Megatron-LM. Covers CI pipeline structure, PR scope labels, triggering internal GitLab CI (which force-pushes the current branch to a pull-request\u002FBRANCH ref — always dry-run and verify the destination first; never run against shared or protected branches), and CI failure investigation.",{"slug":8,"name":9,"logoUrl":10,"githubOrg":9},[1549,1550,1551],{"name":1539,"slug":1540,"type":15},{"name":1418,"slug":1419,"type":15},{"name":1552,"slug":1553,"type":15},"GitHub","github","2026-07-27T06:06:12.278222",{"slug":1556,"name":1556,"fn":1557,"description":1558,"org":1559,"tags":1560,"stars":1529,"repoUrl":1530,"updatedAt":1568},"mcore-create-issue","investigate CI failures and create issues","Investigate a failing GitHub Actions run or job and create a GitHub issue for the failure.",{"slug":8,"name":9,"logoUrl":10,"githubOrg":9},[1561,1564,1565],{"name":1562,"slug":1563,"type":15},"Debugging","debugging",{"name":1552,"slug":1553,"type":15},{"name":1566,"slug":1567,"type":15},"Triage","triage","2026-07-14T05:25:57.442089",{"slug":1570,"name":1570,"fn":1571,"description":1572,"org":1573,"tags":1574,"stars":1529,"repoUrl":1530,"updatedAt":1581},"mcore-linting-and-formatting","lint and format Megatron-LM code","Linting and formatting for Megatron-LM. Covers running autoformat.sh, tools (ruff, black, isort, pylint, mypy), and code style rules.",{"slug":8,"name":9,"logoUrl":10,"githubOrg":9},[1575,1578],{"name":1576,"slug":1577,"type":15},"Best Practices","best-practices",{"name":1579,"slug":1580,"type":15},"Code Analysis","code-analysis","2026-07-14T05:25:56.18433",{"slug":1583,"name":1583,"fn":1584,"description":1585,"org":1586,"tags":1587,"stars":1529,"repoUrl":1530,"updatedAt":1595},"mcore-migrate-gpt-to-hybrid","migrate Megatron-LM models to HybridModel","Migration guide for moving Megatron Core GPTModel checkpoints, model providers, training commands, and layer mappings to HybridModel.",{"slug":8,"name":9,"logoUrl":10,"githubOrg":9},[1588,1591,1594],{"name":1589,"slug":1590,"type":15},"Machine Learning","machine-learning",{"name":1592,"slug":1593,"type":15},"Migration","migration",{"name":9,"slug":8,"type":15},"2026-07-17T06:07:11.777011",{"slug":1597,"name":1597,"fn":1598,"description":1599,"org":1600,"tags":1601,"stars":1529,"repoUrl":1530,"updatedAt":1606},"mcore-onboard-gb200-1node-tests","onboard functional tests for GB200","Onboard 1-node GitHub MR functional tests for GB200 from existing mr-scoped 2-node tests.",{"slug":8,"name":9,"logoUrl":10,"githubOrg":9},[1602,1605],{"name":1603,"slug":1604,"type":15},"QA","qa",{"name":1448,"slug":1449,"type":15},"2026-07-14T05:25:53.673039",{"slug":1608,"name":1608,"fn":1609,"description":1610,"org":1611,"tags":1612,"stars":1529,"repoUrl":1530,"updatedAt":1615},"mcore-run-on-slurm","launch distributed training jobs on SLURM","How to launch distributed Megatron-LM training jobs on a SLURM cluster. Covers a minimal sbatch skeleton, environment-variable setup for torch.distributed.run, CUDA_DEVICE_MAX_CONNECTIONS rules across hardware and parallelism modes, container conventions, monitoring, and per-rank failure diagnosis.",{"slug":8,"name":9,"logoUrl":10,"githubOrg":9},[1613,1614],{"name":1418,"slug":1419,"type":15},{"name":1421,"slug":1422,"type":15},"2026-07-14T05:25:49.362534",{"slug":1617,"name":1617,"fn":1618,"description":1619,"org":1620,"tags":1621,"stars":1529,"repoUrl":1530,"updatedAt":1629},"mcore-split-pr","split pull requests to reduce review load","Split a PR into multiple PRs to reduce the number of required CODEOWNERS reviewer groups.",{"slug":8,"name":9,"logoUrl":10,"githubOrg":9},[1622,1625,1626],{"name":1623,"slug":1624,"type":15},"Code Review","code-review",{"name":1552,"slug":1553,"type":15},{"name":1627,"slug":1628,"type":15},"Pull Requests","pull-requests","2026-07-14T05:26:01.226578",{"slug":1631,"name":1631,"fn":1632,"description":1633,"org":1634,"tags":1635,"stars":1529,"repoUrl":1530,"updatedAt":1638},"mcore-testing","run and manage Megatron-LM tests","Test system for Megatron-LM. Covers test layout, recipe YAML structure, adding and running unit and functional tests, golden values, marker filters, and CI parity.",{"slug":8,"name":9,"logoUrl":10,"githubOrg":9},[1636,1637],{"name":1603,"slug":1604,"type":15},{"name":1448,"slug":1449,"type":15},"2026-07-14T05:25:54.928983",{"slug":1640,"name":1640,"fn":1641,"description":1642,"org":1643,"tags":1644,"stars":1529,"repoUrl":1530,"updatedAt":1647},"nightly-sync","manage nightly main-to-dev sync workflows","Domain knowledge for the nightly main-to-dev sync workflow. Covers merge strategy, CI architecture, failure investigation, and known issues.",{"slug":8,"name":9,"logoUrl":10,"githubOrg":9},[1645,1646],{"name":1458,"slug":1459,"type":15},{"name":1539,"slug":1540,"type":15},"2026-07-30T05:29:03.275638",496]