To do that, you need to "key" your animations. General keying doesn't involve any rigging at all. To make a cylinder rise from the ground, select the object you want to move. Make sure it's at it's default un-risen position. After, hit v or click onto the translate tool with your object selected. A red key should appear down under the frame timeline somewhere. Click it. After, move the timeline slider to another frame. Then, move your cylinder to it's final position. With it still selected, key it again at the different frame in the final position. Then, XSI should automatically tween the movement together, and it will move automatically whilst scrolling through your frames. It works the same with scaling and rotating as well.
(tell me if that needs clarifying)