Changing Motor6D's C0 value to pose

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#1

How can I make pose using Motor6D’s C0 value and Lerp()?
I’m making CFrame animation. this code was laugh animation code but uhhh animation goes weird how can I fix this?

here’s my code I used

if RShoulder ~= nil then
				RShoulder.C0 = RShoulder.C0:Lerp(CFrame.new() * CFrame.Angles(0, 0, math.rad(90.241)), 0)
			end
			for count = 1, 10 do
				if Neck ~= nil then
					Neck.C0 = Neck.C0:Lerp(CFrame.new() * CFrame.new(0, 0, -0.145), 0.083)
				end
				wait(0.083)
				if Neck ~= nil then
					Neck.C0 = Neck.C0:Lerp(CFrame.new() * CFrame.new(0, 0, 0.274), 0.083)
				end
				wait(0.083)
			end
			if RShoulder ~= nil then
				RShoulder.C0 = RShoulder.C0:Lerp(CFrame.new(), 0)
			end
			if Neck ~= nil then
				Neck.C0 = Neck.C0:Lerp(CFrame.new(), 0)
			end