Make arm look/point at mouse position - 3rd person

Hey there,

In my game I got a passage that allows you to kind of 'control' special body parts of your enemies, and I was wondering how I could achieve something like making an arm point at where the mouse is currently located. I'm using the robot model from the Mecanim tutorial and I added kinematic rigidbodies and capsule colliders to each part of the right arm of the model - the shoulder joint, the upper arm joint, the forearm joint and the wrist joint. Now, my first idea was to just make a raycast and make all of the arm components point at the hit.point using Transform.LookAt(). However, this didn't exactly work, because the 'joint' object doesn't really point at where the arm is pointing at if that makes sense. Does anybody know how I could either get the joints to look at the arm correctly or implement another solution? (Rotating by Input.MouseAxis worked, but I want it to point at the mouse)

Greetings,

Chelmney