diff --git a/.gitignore b/.gitignore
index aea9f58..aafcedf 100644
--- a/.gitignore
+++ b/.gitignore
@@ -36,4 +36,5 @@ sysinfo.txt
 LICENSE.meta
 README.md.meta
 Doc.meta
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\ No newline at end of file
+Doc/*.meta
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\ No newline at end of file
diff --git a/CableVSWire.meta b/CableVSWire.meta
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diff --git a/CableVSWire/CableVSWire.unity b/CableVSWire/CableVSWire.unity
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diff --git a/CableVSWire/CableVSWire.unity.meta b/CableVSWire/CableVSWire.unity.meta
new file mode 100644
index 0000000..fb343e9
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@@ -0,0 +1,9 @@
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diff --git a/CableVSWire/Scripts.meta b/CableVSWire/Scripts.meta
new file mode 100644
index 0000000..eaddc50
--- /dev/null
+++ b/CableVSWire/Scripts.meta
@@ -0,0 +1,10 @@
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diff --git a/CableVSWire/Scripts/CraneControl.cs b/CableVSWire/Scripts/CraneControl.cs
new file mode 100644
index 0000000..a8fd4cb
--- /dev/null
+++ b/CableVSWire/Scripts/CraneControl.cs
@@ -0,0 +1,45 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using AGXUnity;
+
+public class CraneControl : MonoBehaviour {
+
+
+  public float ArmCompliance = 1E-07f;
+  public float WinchSpeed = 0.0f;
+
+  private List<AGXUnity.Constraint> m_lockJoints;
+  private AGXUnity.WireWinch m_winch;
+
+  // Use this for initialization
+  void Start () {
+    AGXUnity.Constraint[] constraints = GetComponentsInChildren<AGXUnity.Constraint>();
+
+    m_winch = GetComponentInChildren<WireWinch>();
+
+    m_lockJoints = new List<Constraint>();
+    foreach(var c in constraints)
+    {
+      if (c.Type == ConstraintType.LockJoint)
+        m_lockJoints.Add(c);
+    }    
+  }
+	
+
+  private void updateCompliance()
+  {
+    foreach (var c in m_lockJoints)
+      c.Native.setCompliance(ArmCompliance);
+  }
+
+	// Update is called once per frame
+	void Update () {
+    updateCompliance();
+
+    if (m_winch != null)
+      m_winch.Native.setSpeed(WinchSpeed);
+  }
+
+
+}
diff --git a/CableVSWire/Scripts/CraneControl.cs.meta b/CableVSWire/Scripts/CraneControl.cs.meta
new file mode 100644
index 0000000..a4de40e
--- /dev/null
+++ b/CableVSWire/Scripts/CraneControl.cs.meta
@@ -0,0 +1,13 @@
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diff --git a/README.md b/README.md
index 4d5f3b4..35fd0b6 100644
--- a/README.md
+++ b/README.md
@@ -12,3 +12,33 @@ To use these scenes you need to do the following:
 5. Next, clone/unzip this (AGXUnityScenes) project into the `Assets` directory. Now you should also have the following structure: `<your-project>\Assets\AGXUnityScenes`
 6. When all scripts are compiled, locate the sample scenes in the `Assets\AGXUnityScenes\` sub-directory and drag them from the Project to the Hiearchy.
 7. Done.
+
+
+## CableRobot
+![](images/cableRobot.png)
+
+This scene demonstrate the use of `agxCable::Cable` class for simulating a flexible cable attached to two industrial robots.
+
+## carOnTerrain
+![](images/carOnTerrain.png)
+
+This scene show a vehicle which can be controlled using keyboards (left/right/up/down).
+
+## TerrainVehicle
+![](images/TerrainVehicle.png)
+
+This scene demonstrates another vehicle, this time powered using the Drivetrain API including Engine, Clutch, GearBox and Differential.
+Control the vehicle using the keyboard (left/right/up/down).
+
+## CableVSWire
+
+![](images/CableVSWire.png)
+
+To illustrate the difference between the `agxCable::Cable` class and the `agxWire::Wire` class this scene show two similar scenarios where one is using 
+the Cable and the other using the Wire class. Notice that the one using a Wire is perfectly stable, even under high loads.
+You can change the mass of the WireWeight rigid body to see how the wire reacts even under very high loads.
+
+Also, the crane arm is flexible, using a number of rigid bodies, locked to each other using LockJoints. The compliance (stiffness) of the LockJoints can
+be set using the editor when running the simulation.
+
+Also, the winch in the wire crane can be operated using the same property editor.
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