Clone Environments

Use the clone API to replicate a USD source subtree into runtime-only PhysX copies. The source hierarchy must exist in the loaded USD stage; live PhysX objects are keyed by the target paths, but no USD or runtime-stage prims are authored.

Clone before warmup_gpu() or the first simulation step. Replication executes inline; the returned operation index is already complete, and bindings created after the call can match cloned physics objects immediately.

When to Use

Use this skill when a caller needs many copies of one loaded environment for RL-style batched simulation, wants the clone API call order, or needs the target transform layout.

Instructions

1. Read docs/tutorials/cloning.md and the sample for the caller's language before changing code.
2. Populate an ovstage, attach it at that ordinal, and call clone before warmup_gpu() or the first simulation step. The clone is complete when the call returns; wait_op() / wait_all() remains valid but returns immediately.
3. Use Shell to run the Python sample or compile the C sample after adapting the source and target paths.