How to control the order of transforms when using interpolators?

We want to spin one cube around another, instead of having two cubes spinning side by side. The latter is the effect we get, no matter the order of the transforms in the tree.
We can not use normal matrix multiplications since we are using a RotationInterpolator in combination with a static translation transform.
We have tried using OrderedGroup but this did not make any difference either. Where is this supposed to be used in order to make a difference?
How are we supposed to do? Any help much appreciated.
Thanks

SphereMotion example that a give with java3D that spin
one sphere around another
you should look at thisThanks. What exactly are we looking for, are they using the PositionInterpolator to make the translation survive during the animation?
Is this what we need to do, or is there any way of making a normal transform survive?
Our semi-educated-guess is that the RotationInterpolator we use to rotate our cubes operates on the compiled transform, therefore overwriting the translation we do at the beginning (this can be seen in the very beginning, as the 2nd cube is first in it's own position, and then in the next frame it returns to 0,0 (origo)).
Are we right? Or is there a simpler explanation and solution to this?
Many thanks

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