There seems to be a problem scaling the jit.phys.body when the shape is a cylinder. The first scalar seems to set the radius and the second the length rather than an x, y, z arrangement. This kind of works, but enforces circular cylinders and really causes problems with the AABB for collisions.
Also, when making this test patch I had trouble using attributes in the 6dof object. I guess you need to start/initialize the rendering before sending the parameters? You can test for this by doing step "2. bang" before step "1. start."
I tested this patch in both 6.0.8 and 6.1 in OS X 10.7.5