The simplest thing to do is to set scene.range to some small number R. This will turn off autoscaling and place the camera so that a box located at vec(0,0,0), with size vec(2*R,2*R,0.1*R), will about fill the canvas.
Here's an example:
scene.range = 2
box()
cylinder(pos=vec(0,-1.5,0), radius=100, color=color.green, axis=vec(0,1,0))