Plot surface plot from implicit equation

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Hello,
I want to plot a capsule thanks to this implicit equation and without using fimplicit3 function:
X^2+Y^2+1/4*(abs(Z-a)+abs(Z+a)-2*a)^2-r^2=0
where a=2 and r=2;
Do you have an idea on how to do that? I would like also to have the X, Y and Z coordinates for plotting the capsule with surf(X, Y, Z).
Thank you in advance for your answer!

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