Capybaras are wild animals whose natural behaviour is not suited to domestication. They are wired for certain behaviours. If you force them to behave by your rules you will destroy some aspect of their spirit and your relationship with them. They did not ask to come and live with you, therefore the onus is on you to adapt to them and to ensure their happiness. You need to establish a very strong bond and good rapport with your capybara so that the capybara wants to do what you ask. Even then, although the capybara may understand perfectly what you are asking them to do, they will only comply if it suits them.