How would I get the C0 or C1 orientation needed for RightShoulder to point towards a target part?

How can I calculate the C0 or C1 orientation needed for a RightUpperArm’s RightShoulder Motor6D to point towards a target part?

I want it to stay in place, so I assume you have to also calculate it with C0.Position and C1.Position in a way

Currently:

Wanted: