Support capsules via vtkCapsuleSource
It looks like vtkCapsuleSource has been implemented in https://github.com/finetjul/bender/blob/master/Libs/VTK/Filters/Sources/vtkCapsuleSource.cxx so it would be nice if this could be incorporated and supported out of the box.
For the record this is how we are using it in Drake for now, I had to make a few updates since the code is a little outdated https://github.com/robotlocomotion/drake/pull/12305