new_contents: #!/usr/bin/env python
  
  # The Dzhanibekov effect
  # http://mathoverflow.net/questions/81960/the-dzhanibekov-effect-an-exercise-in-mechanics-or-fiction-explain-mathemat
  
  import siconos
  from siconos.mechanics.collision.tools import Contactor
  from siconos.io.mechanics_io import Hdf5
  
  options = siconos.mechanics.collision.bullet.SiconosBulletOptions()
  options.worldScale = 0.01
  
  with Hdf5() as io:
  
      # Definition of a tetrahedron as a convex shape
      io.addPrimitiveShape('Body1', 'Cylinder', (1, 10))
      io.addPrimitiveShape('Body2', 'Box', (2, .3, 7))
      
      io.addObject('roo', [Contactor('Body1'),
                           Contactor('Body2',
                                     relative_translation=[0, 5, 0])],
                   translation=[0, 0, 4],
                   # a small perturbation on z axis
                   velocity=[0, 0, 0, 0, 2, 0.0001],
                   mass=1,
                   inertia=[1, 10, 11])
  
  with Hdf5(mode='r+') as io:
  
      io.run(with_timer=True,
             options=options,
             t0=0,
             T=90,
             h=0.005,
             Newton_max_iter=1,
             set_external_forces=lambda x: None)
  
subject: add a Dzhanibekov effect simulation