Create a unity C# script to aim a robot arm at a target.

I need a a script that will take the transform of the first axis of the robot arm (Turns left and right), and the second axis (Turns up and down), and the transform of the a target to aim at.

The script should work if the arm is at an angle or gets rotated.

I attached a 3D model for the arm. Make sure it aims using the correct axis and does not break the way the arm joints work.