The constrain command
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Move into the Assemble tab and click on the Constrain icon, see below:
The screenshot above also illustrates the fact that constraints can have names, apart from Mate:1 etc. Note George and Mildred.
3D object based constraints are generally at the level of assembly, and constraints "connect" parts within the assembly.
Text, images and diagrams © 2021 Owen F. Ransen. All rights reserved. (But copy the source code as much as you want!)