def METHOD_NAME(self, capsule):
    offset = capsule.center
    # always a normalized vector
    direction = capsule.origin
    extent = capsule.extent
    radius = capsule.radius
    # positions of the box verts
    minx = miny = -radius
    maxx = maxy = +radius
    minz = -(extent + 2 * radius) / 2
    maxz = +(extent + 2 * radius) / 2
    # create blender object
    b_obj = Object.box_from_extents("capsule", minx, maxx, miny, maxy, minz, maxz)
    # apply transform in local space
    b_obj.matrix_local = self.center_origin_to_matrix(offset, direction)
    self.set_b_collider(b_obj, bounds_type="CAPSULE", display_type="CAPSULE", radius=radius)
    return [b_obj