Xform and joint in Interactive Scene

[Viru97]

How do I spawn or create Xform in InteractiveSceneCfg.
I know this function prim_utils.create_prim("/World/envs/env_0/rope", 'Xform')
it is working fine but requires absolute path, i want to give it relative path because i need to create multiple environments.

Similarly, i need to create a joint between objects of InteractiveSceneCfg, I am doing

 ENV_REGEX_NS = "/World/envs/env_0"
 joint_prim_path = f'{ENV_REGEX_NS}/rope/bead_{i - 1}/joint_{i}'
 joint = UsdPhysics.SphericalJoint.Define(stage, joint_prim_path)

this also need absolute path and i have to add this joint after scene has been created. Is there any way to create joint while initiating scene.

Thanks.

[RandomOakForest]

Thank you for posting this. To do this you currently need the absolute path, unfortunately.