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"I look up to Sarah" usually means "I admire or respect Sarah", the 'looking' being figurative in nature. Without any other words, one would use 'look at' to avoid ambiguity when actual looking is being discussed. However, the phrase 'from his body' makes clear that the figurative meaning is not intended. One can look from one thing to another. I looked from the dog to the ball, and back to the dog again. In your examples, 'at' and 'to' are equally acceptable.