Its all about completing the circuit path. With a 6V flashlight, the case of the light will only be connected to one end of the batteries (usually negative). Unless you also make contact with the other end of the batteries then you will not recieve a shock. In this case, touching the ground (earth) will not do anything because the batteries in the flashlight are not referenced or connected to it in any way.
Power lines and your house current are referenced and connected to the ground (earth) so contact with it and a live wire completes the circuit and can kill you.
There is a range of current through the heart that will cause it to fibrillate. This is usually the cause of death in electrocutions. Above and below this range, the heart will not usually fibrillate, but other damage can occur (severe burns, trauma, etc.)