Back to draw-VTK
Once you have opened a Maxima session, load package draw and then set global variable draw_renderer to vtk:
load("draw") $ draw_renderer: 'vtk $
Cylinders are defined by center (midpoint of its height), radius, height, and direction vector:
draw3d( capping = true, color = red, cylinder([0,0,0],1,16,[1,0,0]), color = green, cylinder([0,0,0],1,16,[0,1,0]), color = blue, cylinder([0,0,0],1,16,[0,0,1]) )$
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