You don't want this
let capsules = [
("panda_joint1", 0.25, 0.2, k::Vector3::new(0., 0., 0.233), k::UnitQuaternion::from_euler_angles(0., 0., 0.)),
("panda_joint2", 0.20, 0.2, k::Vector3::new(0., 0., 0.433), k::UnitQuaternion::from_euler_angles(0., 0., 0.)),
("panda_joint3", 0.13, 0.13, k::Vector3::new(0.088, 0., 0.650), k::UnitQuaternion::from_euler_angles(PI / 2., 0., 0.)),
("panda_joint4", 0.12, 0.12, k::Vector3::new(0., 0., 0.773), k::UnitQuaternion::from_euler_angles(0., 0., 0.)),
("panda_joint5", 0.12, 0.15, k::Vector3::new(0., 0.08, 0.945), k::UnitQuaternion::from_euler_angles(0., 0., 0.)),
("panda_joint6", 0.12, 0.1, k::Vector3::new(0., 0., 1.033), k::UnitQuaternion::from_euler_angles(0., 0., 0.)),
//("panda_joint6", 0.25, Vector3::new(0., 0., 0.133), Vector3::new(0., 0., 0.333))
];