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I have been trying to use CoppeliaSim to build a classical Mass-Spring-Damper system. For that, I have two rectangular slabs (cuboids), one on top of the other (the lower being static while the upper is dynamic). Between the two, I am supposed to insert a spring and a damper, but I do not know how to do that in CoppeliaSim. I think it may be possible to do it using a prismatic joint in Dependent mode, but I am not sure how to get that working. None of my Google searches were successful.