Matterjs joints with min max angles

Phaser 3
1

Hello, I’m pretty new to Phaser and physic libraries, so I’m unsure if my project can be done with matterjs.
It’s similar to the following: Evolving Genetic Virtual Creatures | Softology's Blog A “creature” made out of some rectangles as limbs, that should move by rotating it’s limbs at a specific frequency.

However, I don’t want the rectangles to always rotate 360°. It should be possible to set min and max values (e.g. a leg moves back and forth). From my research I found that many physics libraries (most based on box2d) have a min and max option, and even an included motor. Matterjs doesn’t.

For now, I only got the limbs to move by tweening. For example with the following:

     this.tweens.addCounter({
       from: 20,
       to: 90,
       yoyo: true,
       repeat: -1,
       onUpdate: (tween) => {
         leg1.setAngle(tween.getValue());
       },
     });

But from my understanding, this sets leg1 always at a specific angle in the world, not at an angle in relation to another body. If the creature moves around, this angle won’t be correct anymore.
How would I be able to do that here? Or should I switch to another physics library?

Thanks for any help.