Restrictive clauses can usually begin with either which or that . It has nothing to do with humans and animals, though with humans we usually use who . I think your commas should be removed, but the sentence needs more work than that.
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AnonymousWould you say we can use both relative pronouns (are they?) "which" and "that" with restrictive clauses?Yes.
AnonymousOr would you say that only the use of the pronoun "that" (for human and non-human) is correct for a restrictive clause?No.