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I'm not sure if this would work but this is what I would try: On the keyframe where the mother picks up the baby, while holding the baby object, scope into the mother puppet so that the baby is now part of the mother puppet object (or even scope further into her chest so that it moves bound to the chest). Then when she places it down do the reverse, on that keyframe scope back into the mother and remove the baby from the puppet by holding it and scoping back out. You may need to edit the keyframes to tell them to keep changes so that after the keyframe ends the baby doesn't pop back out on its own.