# Description

Previously, we always assumed heterogeneous environment setup, which
performed cloning on a per-actor basis during spawning of actors. In
some direct workflow environments, a redundant cloning call was made at
the end of environment setup to perform cloning on a global scope.

With this change, we determine whether to perform cloning on a per-actor
or global scope based on the `replicate_physics` parameter in
`InteractiveSceneCfg`. When `replicate_physics=True`, homogeneous
environment is assumed and cloning will only happen on a global scope.
This reduces the time required for cloning for homogeneous setups. For
heterogeneous environments, set `replicate_physics=False` and cloning
will happen per-actor.

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there