With the default speed of Blender, the cube and the cylinder remained stationary when the collision occurred with the base of the cube. So I decided to increase the minimum and maximum speed of both objects. In this way the objects moved with a high speed colliding with all the faces of the cube.
In the case of Bullet, however, the speed is set with a vector and not with a scalar. In Blender, I set the speed of both objects to:
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min_velocity = 30;
max_velocity = 35;