Animation to CFrame

Hello everyone. I am getting started on CFrame animating and have very basic to no understanding of what I am doing.

This is a photo of the animation editor that I use.

https://gyazo.com/a60a84ece13a00537e107fed790d8f1b

My question is, is can I use these 6 values to make a CFrame pose for the right arm that looks exactly what the character is looking on the animation editor?

https://gyazo.com/3267f4506973cc995b9ff344a43a58e5

If so, how? What command could I use to set the C0?

instance.C0 = value

Replace instance with the instance you want to set the C0 property of, replace value with the desired value you wish to assign.