Complex Joint Constraints and Mechanical Assemblies

Act as a Mechanical Engineer and Physics Coder. Explain the exact programmatic implementation of complex, multi-part mechanical linkages in R3F utilizing Rapier's advanced joint constraint system. Detail the code required to forge a mathematically perfect [JOINT_TYPE] (e.g., revolute, prismatic, or spherical) locking two distinct RigidBodies together. You must specify exactly how to tune the [DAMPING_RATIO] and stiffness parameters to ensure smooth, non-jittering motion, and demonstrate how to inject hard [LIMIT_ANGLES] (min/max radians) to physically restrict movement ranges. Include a complete, functioning code example illustrating the assembly of a multi-segment robotic arm or a heavy construction crane.