[MISC] Run gpu tests on github runner

.github/workflows/gpu_on_github.yml

@@ -0,0 +1,77 @@
+name: gpu_on_github
+
+on:
+  # Trigger the workflow on push on the master branch, or for any pull request
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+
+concurrency:
+  # Cancel all workflows that are stil running if any when updating branches associated with PRs,
+  # BUT don't do anything for workflows that are not triggered by PRs.
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+jobs:
+  linux-gpu:
+    # run on github gpu runner
+    runs-on: gpu-t4-4-core
+
+    env:
+      # Note that secrets are not passed to workflows that are triggered by a pull request from a fork
+      HF_HUB_DOWNLOAD_TIMEOUT: 60
+      FORCE_COLOR: 1
+      PY_COLORS: 1
+      MADRONA_DISABLE_CUDA_HEAP_SIZE: "1"
+      OMNI_KIT_ACCEPT_EULA: "yes"
+      OMNI_KIT_ALLOW_ROOT: "1"
+      GS_BACKEND: "gpu"
+      GS_USE_NDARRAY: "0"
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"
+
+      - name: Install python dependencies
+        run: |
+          pip install --upgrade pip setuptools pkg-info wheel
+          pip install torch
+
+      - name: Install Genesis
+        run: |
+          pip install -e '.[dev]'
+
+      - name: Get gstaichi version
+        id: gstaichi_version
+        shell: bash
+        run: |
+          GSTAICHI_VERSION=$(python -c "import importlib.metadata ; print(importlib.metadata.version('gstaichi'))")
+          echo "GSTAICHI_VERSION=${GSTAICHI_VERSION}"
+          echo "GSTAICHI_VERSION=${GSTAICHI_VERSION}" >> $GITHUB_OUTPUT
+
+      - name: Restore Taichi Kernel Cache
+        if: always()
+        uses: actions/cache/restore@v4
+        with:
+          path: .cache
+          key: ubuntu-24.04-3.10-${{ steps.gstaichi_version.outputs.GSTAICHI_VERSION }}
+          restore-keys: |
+            ubuntu-24.04-3.10-${{ steps.gstaichi_version.outputs.GSTAICHI_VERSION }}-
+
+      - name: Run unit tests
+        if: github.event_name == 'pull_request'
+        run: |
+          pip install --no-input --extra-index-url https://pypi.nvidia.com/ omniverse-kit
+          pip install --no-input ".[dev,render,usd]"
+
+          pytest -v --backend gpu --dev -n 1 -m required --forked --logical "tests/test_rigid_physics.py"