Form and rules
How it works
Defining relative clauses identify which person/thing; they do not use commas.
Non-defining relative clauses add extra information about an already identified noun and are separated by commas.
That is common in defining clauses but is not used in non-defining clauses.
An object relative pronoun can often be omitted in defining clauses, but not in non-defining clauses.
Who refers to people, which to things; whose shows possession; where refers to places.