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Keyframes is good. Make a keyframe in the puppet’s neutral stance. Make a new keyframe and set the arm to its other extreme, right up in the air more or less. Now drag the second keyframe away from the first and make a smooth animation in between automatically.
Now you can input the controller sensor’s r2 l2 onto the playhead of the keyframe thingie. Now you control where in the animation you are by squeezing the triggers and thusly have basic arm control.
You can refine the animations further to get the effect you want by just adding more keyframes between the two extreme ones.