Specifically, I'm trying to "weld" the Right Arm to the camera via the Right Shoulder joint (which is the difficult aspect of this).
What's the best way to do this?
(Not a literal weld. I want to program in a positional orientation and have it orient automatically.)
You could create a part and weld that part to the part that you want to weld the camera to, and then you can focus the camera on the part that you welded.