How to make the arm look at a point using scripts

I don’t want to use IKControl because my environment is not suitable for it, I have my reasons, but what I do want is help to make this script:

local shoulder = Char.LeftUpperArm.LeftShoulder
			shoulder.C0 = CFrame.lookAt(shoulder.C0.Position, Mapa.O1.Position)
			
			local jointPosition = shoulder.Part0.CFrame:ToWorldSpace(CFrame.new(shoulder.C0.Position))
			local cframe = CFrame.new(jointPosition.Position, Mapa.O1.Position) * CFrame.Angles(math.pi/2, 0, 0)
			shoulder.C0 =  shoulder.Part0.CFrame:ToObjectSpace(cframe) 

works correctly since this consists of the player’s arm looking at the “Map, O1” part but when the lower torso is turned over (not the HumanoidRootPart but the Motor6D “Root” of the lower Torso that is connected to the HumanoidRootPart and with it moves the whole body) but I want the arm to adjust facing the point “Map.O1.Position”, but when the lowerTorso turns to a certain point in the RY axis, the positioning of the arm does not do so as desired. What I want is to make the arm look at the point at all costs, even if the turn is not logical or it looks strange, I want the arm to look at all costs, THANK YOU FOR READING SERIOUSLY!!!

Try cframe look at :new_moon_with_face:
Hehehehahaha