Update README.md

README.md

@@ -42,7 +42,11 @@ This repository depends upon the following Software/repositories:
 
 - **utilities**: Simulink models for debugging sensors on the real robot. [[README]](utilities/README.md)
 
-#### Where do I find new features and legacy repos?
+## Automatic generation of c++ code from Simulink
+
+There is the possibility to generate c++ code from the Simulink models using [Simulink coder](https://www.mathworks.com/products/simulink-coder.html). The repositiory that contains the generated c++ code for the [momentum-based-yoga](torque-controllers/momentum-based-yoga) controller is named [autogenerated-whole-body-controllers](https://github.com/robotology-playground/autogenerated-whole-body-controllers). Documentation on how to generate the code is available in the repository [wiki](https://github.com/robotology-playground/autogenerated-whole-body-controllers/wiki/How-to-generate-code-from-a-Simulink-model).
+
+## Where do I find new features and legacy repos?
 
 ##### Available controllers