Fixing lighting on foreground objects. Also making it so that local assets in the ForegroundObjectPlacementRandomizer continue to work for local testing

SynthDet/Assets/Scripts/Runtime/Randomizers/ForegroundObjectPlacementRandomizer.cs

@@ -61,12 +61,23 @@ namespace SynthDet.Randomizers
             
             foreach (var prefab in prefabs)
             {
+                ConfigureLayerRecursive(prefab);
                 ConfigureRandomizerTags(prefab);
             }
 
             m_GameObjectOneWayCache = new GameObjectOneWayCache(m_Container.transform, prefabs);
         }
 
+        private static void ConfigureLayerRecursive(GameObject prefab)
+        {
+            prefab.layer = LayerMask.NameToLayer("Foreground");
+            for (int i = 0; i < prefab.transform.childCount; i++)
+            {
+                var child = prefab.transform.GetChild(i).gameObject;
+                ConfigureLayerRecursive(child);
+            }
+        }
+
         /// <summary>
         /// Generates a foreground layer of objects at the start of each scenario iteration
         /// </summary>

SynthDet/Assets/Scripts/Runtime/SynthDetScenario.cs

@@ -115,7 +115,7 @@ namespace SynthDet.Scenarios
             
             // Inject the loaded prefabs into the ForegroundObjectPlacementRandomizer
             var randomizer = GetRandomizer<ForegroundObjectPlacementRandomizer>();
-            randomizer.prefabs = prefabsList.ToArray();
+            randomizer.prefabs = randomizer.prefabs.Concat(prefabsList).ToArray();
         }
 
         void ConfigureLabeling(GameObject gObj)