diff --git a/examples/legged_inertial_ekf.ipynb b/examples/legged_inertial_ekf.ipynb
index 80ceafd..8ee0dd4 100644
--- a/examples/legged_inertial_ekf.ipynb
+++ b/examples/legged_inertial_ekf.ipynb
@@ -2758,6 +2758,59 @@
     "\n",
     "display_code_file(data.generated_files[0], \"C++\")\n"
    ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 26,
+   "metadata": {},
+   "outputs": [
+    {
+     "ename": "TypeError",
+     "evalue": "__init__() got an unexpected keyword argument 'func'",
+     "output_type": "error",
+     "traceback": [
+      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
+      "\u001b[0;31mTypeError\u001b[0m                                 Traceback (most recent call last)",
+      "Cell \u001b[0;32mIn[26], line 2\u001b[0m\n\u001b[1;32m      1\u001b[0m namespace \u001b[38;5;241m=\u001b[39m \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mdouble_pendulum\u001b[39m\u001b[38;5;124m\"\u001b[39m\n\u001b[0;32m----> 2\u001b[0m double_pendulum_python \u001b[38;5;241m=\u001b[39m \u001b[43mcodegen\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mCodegen\u001b[49m\u001b[43m(\u001b[49m\n\u001b[1;32m      3\u001b[0m \u001b[43m    \u001b[49m\u001b[43mfunc\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43m \u001b[49m\u001b[43mcompute_mean\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m      4\u001b[0m \u001b[43m    \u001b[49m\u001b[43mconfig\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mcodegen\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mPythonConfig\u001b[49m\u001b[43m(\u001b[49m\u001b[43muse_eigen_types\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[38;5;28;43;01mFalse\u001b[39;49;00m\u001b[43m)\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m      5\u001b[0m \u001b[43m    \u001b[49m\u001b[43mname\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;124;43mdouble_pendulum\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[43m,\u001b[49m\n\u001b[1;32m      6\u001b[0m \u001b[43m    \u001b[49m\u001b[43mreturn_key\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;124;43mddang\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[43m,\u001b[49m\n\u001b[1;32m      7\u001b[0m \u001b[43m)\u001b[49m\n\u001b[1;32m      8\u001b[0m double_pendulum_python_data \u001b[38;5;241m=\u001b[39m double_pendulum_python\u001b[38;5;241m.\u001b[39mgenerate_function(\n\u001b[1;32m      9\u001b[0m     namespace\u001b[38;5;241m=\u001b[39mnamespace,\n\u001b[1;32m     10\u001b[0m )\n\u001b[1;32m     12\u001b[0m \u001b[38;5;28mprint\u001b[39m(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mFiles generated in \u001b[39m\u001b[38;5;132;01m{}\u001b[39;00m\u001b[38;5;124m:\u001b[39m\u001b[38;5;130;01m\\n\u001b[39;00m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;241m.\u001b[39mformat(double_pendulum_python_data\u001b[38;5;241m.\u001b[39moutput_dir))\n",
+      "\u001b[0;31mTypeError\u001b[0m: __init__() got an unexpected keyword argument 'func'"
+     ]
+    }
+   ],
+   "source": [
+    "namespace = \"double_pendulum\"\n",
+    "double_pendulum_python = codegen.Codegen.function(\n",
+    "    func = compute_mean,\n",
+    "    config=codegen.PythonConfig(use_eigen_types=False),\n",
+    "    name=\"double_pendulum\",\n",
+    "    return_key=\"ddang\",\n",
+    ")\n",
+    "double_pendulum_python_data = double_pendulum_python.generate_function(\n",
+    "    namespace=namespace,\n",
+    ")\n",
+    "\n",
+    "print(\"Files generated in {}:\\n\".format(double_pendulum_python_data.output_dir))\n",
+    "for f in double_pendulum_python_data.generated_files:\n",
+    "    print(\"  |- {}\".format(f.relative_to(double_pendulum_python_data.output_dir)))\n",
+    "\n",
+    "display_code_file(\n",
+    "    double_pendulum_python_data.function_dir / \"double_pendulum.py\",\n",
+    "    \"python\",\n",
+    ")\n",
+    "\n",
+    "codegen_with_jacobians = compute_mean_codegen.with_jacobians(\n",
+    "    # Just compute wrt the pose and point, not epsilon\n",
+    "    which_args=[\"state\"],\n",
+    "    # Include value, not just jacobians\n",
+    "    include_results=True,\n",
+    ")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
   }
  ],
  "metadata": {