How isaacsim implements the modeling of spring damping shock absorber with preload

Omniverse Isaac Sim
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I think your post came without much text, but the title is sort of self-explanatory. Judging by the picture I believe you are talking about spring-dampener mechanisms, common in vehicle suspensions among other things :)

https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_joint_tuning.html#understanding-joint-drives

This type of linear spring-dampener system can be modeled as a prismatic joint with a joint drive.

Stiffness is the spring coefficient, and damping is the dampener ratio.
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Since it’s a joint drive, you can also determine what is the target position offset that the system will attempt to maintain.

In the off chance you are looking for vehicle dynamics. We have it as well :)

https://docs.omniverse.nvidia.com/extensions/latest/ext_vehicle-dynamics.html