If the step is too small the solver may fail to update the position as the delta is too low to register. Too big and the object passes through more than one cell in a time step and almost certainly turns the mesh inside out. As I can't open the images (we're not allowed to) it's hard to judge what's happening. For the 6DOF I think you need to set a mass & centre of gravity. knows alot more about this area.
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