layer changes, camera added

Assets/MarathonEnvs/Scripts/Ragdoll004/MocapControllerArtanim.cs

@@ -74,9 +74,11 @@ public class MocapControllerArtanim : MonoBehaviour, IOnSensorCollision
 
 	bool _hasLazyInitialized;
 
+    private List<GameObject> allChildObjects = new List<GameObject>();
 
 
-	void SetOffsetSourcePose2RBInProceduralWorld() {
+
+    void SetOffsetSourcePose2RBInProceduralWorld() {
 
 		_transforms = GetComponentsInChildren<Transform>().ToList();
 
@@ -339,19 +341,17 @@ public class MocapControllerArtanim : MonoBehaviour, IOnSensorCollision
 		// set the layers
 		ragdollForMocap.layer = this.gameObject.layer;
 
+		FindAllChildObjects(ragdollForMocap.transform);
 
-
-
-		foreach (Transform child in ragdollForMocap.transform)
+		foreach (var obj in allChildObjects)
 		{
-			child.gameObject.layer  = this.gameObject.layer;
+			obj.layer = this.gameObject.layer;
 		}
+
 		// setup HandleOverlap
 		foreach (var rb in clone.GetComponentsInChildren<Rigidbody>())
 		{
 			// remove cloned HandledOverlap
-			Transform t = rb.GetComponent<Transform>();
-			t.gameObject.layer = 3;
 			var oldHandleOverlap = rb.GetComponent<HandleOverlap>();
 			DestroyImmediate(oldHandleOverlap);
 			var handleOverlap = rb.gameObject.AddComponent<HandleOverlap>();
@@ -368,7 +368,20 @@ public class MocapControllerArtanim : MonoBehaviour, IOnSensorCollision
         //Debug.Log(children.Count);
 
     }
-	void SetupSensors()
+
+	// Function to recursively find all child game objects
+    private void FindAllChildObjects(Transform parent)
+    {
+        foreach (Transform child in parent)
+        {
+            // Add the child to the list
+            allChildObjects.Add(child.gameObject);
+
+            // Recursively call this function for each child's children
+            FindAllChildObjects(child);
+        }
+    }
+    void SetupSensors()
 	{
 		_sensors = GetComponentsInChildren<SensorBehavior>()
 			.Select(x=>x.gameObject)