From 56725afc5b7492ef52a0dfc4c59f377adbcfc8b8 Mon Sep 17 00:00:00 2001
From: Manoj Velmurugan <v.manoj1996@gmail.com>
Date: Thu, 4 May 2023 18:16:04 +0530
Subject: [PATCH] Update README.md

---
 README.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/README.md b/README.md
index 5b05252..6448c3a 100644
--- a/README.md
+++ b/README.md
@@ -100,6 +100,9 @@ Steps for building/rebuilding the C-MEX S-Function code. These instructions are
     - `>> mex -setup c++`
     - `>> build`
 
+## Tips and tricks
+- ***Code generation*** - The MuJoCo Plant block supports code generation (Simulink Coder) and monitor and tune for host target. Refer to mj_monitorTune.slx for more info.
+- ***Performance improvement*** - In case you want to reduce the mask initialization overhead, you can directly use the underlying S-Function. Select the MuJoCo Plant block and Ctrl+U to look under the subsystem mask. Make sure to call the initialization functions (whenever the MJCF XML model changes).
 
 ## License