Hi yerushalaymer.
I think you should meet with the director of the camp and complain.
Who is the counselor to employ such a method? Are they a Rebbe? Teacher? Anyone licensed to deal with children?
Children run around in camp. It shows a lack of leadership in the counselor to do that to any camper.
What else are they doing to keep control over kids?
I suggest the camp learn about children before going into the camp business.
In fact, I would like to call the camp and tell them a huge boundary was crossed by an incompetent and ill-suited counselor.
The counselor went too far and owes you and your child an apology. They abused their influence as an adult.
Hatzlacha in getting justice.