Need help Adjusting CFrame of the Motor6D (Using R6)

I need help with getting the Motor6D in the desired position. I’m new to scripting and I don’t consider myself to be very great (I’m more of a builder). Any help would be appreciated.

I want the two batons to be position in the right and left hands with the orange part facing upwards.

Here is the code:

Here is how the tool is set up:
Screen Shot 2021-06-10 at 10.05.54 PM

Again, any help would be appreciated. I’ve been trying to do this myself for hours and finally decided to ask for assistance.