I'm afraid not.
I have one last simple question, and I believe I know the answer. I assume the safest way to handle passing the data from Physics to Rendering would be all at once in a structure. For example, have a PhysicsFrame class that holds the ObjectID, its transformation, and the Matrix of every changed object in the physics frame. Then pass that to the Renderer, and have it apply the percentage of interpolation between the new matrix and the old matrix per object. Does that make sense?
First, objectID or ids in general are typically unnecessary. We have far better tools which are pointers. Personally, I'm against most uses of IDs.
For Bullet, object transform is just poured out to the external code by using a proper interface. That is, if it's good enough for Bullet, I guess it will be good enough for you as well.