heres an example of a limb pointing toward another object i made a while ago.
autocam off
position camera 0,20,-20
make matrix 1,100,20,20,20
make object cube 1,5
make mesh from object 1,1
add limb 1,1,1
offset limb 1,1,0,5,0
hide limb 1,1
make object box 4,4,8,3
color object 4,rgb(0,200,0)
glue object to limb 4,1,1
make object sphere 2,3
yrotate object 2,40
delete mesh 1
y#=object position y(2)
do
point camera object position x(2),5,object position z(2)
point object 4,object position x(2),y#,object position z(2)
if upkey() then move object 2,0.01
if leftkey() then yrotate object 2,object angle y(2)-1
if rightkey() then yrotate object 2,object angle y(2)+1
if spacekey() then inc y#,0.01 : position object 2,object position x(2),y#,object position z(2)
loop