Looking at the code the esx is more than likely the problem. It states esx (vmdkESX) as a (stand-alone) variant but trying this fails.
Could you post the remaining two lines, or is this all you get? When I try I get four lines of error messages.
Removing the variant is all it takes for me to clone this so it must be due to the variant and could be a bug introduced with the format change in 4.*
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Progress state: VBOX_E_FILE_ERROR
VBoxManage: error: Failed to clone hard disk
VBoxManage: error: Could not create the clone medium '/drive/tara1/VirtualBox-VMs/Ubuntu-10.04/Ubuntu-10.04-test.vmdk' (VERR_VD_INVALID_TYPE)
VBoxManage: error: Details: code VBOX_E_FILE_ERROR (0x80bb0004), component Medium, interface IMedium
VBoxManage: error: Context: "int handleCloneHardDisk(HandlerArg*)" at line 719 of file VBoxManageDisk.cpp
I stopped this but it was working
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debian@debian:~$ VBoxManage clonehd /drive/tara1/VirtualBox-VMs/Ubuntu-10.04/Ubuntu-10.04.vdi /drive/tara1/VirtualBox-VMs/Ubuntu-10.04/Ubuntu-10.04-test --format vmdk
0%...10%...^C
I also tried what mpack suggested and it fails with the same error.