Relative Shoulder Motors to HumanoidRootPart

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1

I’m trying to make Left and Right Shoulder Motor6D on a R6 rig relative to the HumanoidRootPart.

The red part is the HumanoidRootPart, let’s say I have an animation that rotates the torso to the right.
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Is it possible to make the Motor relative to the HumanoidRootPart while it’s Torso is rotated? My approach is to modify it’s C0 with some maths on it, but I can’t really figure out how to do it.
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2

The main issue is that the HumanoidRootPart doesnt get affected by any animations and in-order to get the arms to move relative to the HumanoidRootPart would require you to change the the motor’s Part0 to the HumanoidRootPart.

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