Recreating the player mechanics from Soccer Physics

Godot 4.2.1.stable

I’ve been trying to recreate the player mechanics from Soccer Physics for a few days now, but I can’t for the life of me get it to work. I’m using RigidBody2D’s for the different parts of the player, and I’m trying to use the Pinjoint2D to make it so they can move around a little, but the player just starts tweaking and flies off-screen. I’m also trying to make the leg kick out and only be able to rotate 90 degrees, which is just adding more problems, I feel like the angular limit does next to nothing. I have no idea if I’m just using the wrong nodes or what, but I just can’t figure it out on my own.

This is my node tree for the player
image