diff --git a/docs/src/examples/robot.md b/docs/src/examples/robot.md
index a769899c..d92b7337 100644
--- a/docs/src/examples/robot.md
+++ b/docs/src/examples/robot.md
@@ -108,23 +108,23 @@ nothing # hide
 The coordinates of any point on the mechanism may be obtained in the world coordinate frame by either
 
 ```@example robot
-output = collect(robot.mechanics.b6.frame_b.r_0)
-fkine = JuliaSimCompiler.build_explicit_observed_function(ssys, output)
+outputs = collect(robot.mechanics.b6.frame_b.r_0)
+fkine = JuliaSimCompiler.build_explicit_observed_function(ssys, outputs)
 fkine(prob.u0, prob.p, 0)
 ```
 
-Query the solution object with the desired output, e.g.,
+Query the solution object with the desired outputs, e.g.,
 ```@example robot
-sol(0, idxs=output)
+sol(0, idxs=outputs)
 ```
-query the problem with the output, in which case the initial condition is used to compute the output
+query the problem with the outputs, in which case the initial condition is used to compute the outputs
 ```@example robot
-prob[output]
+prob[outputs]
 ```
 
-or by building an explicit function `(state, parameters, time) -> output`
+or by building an explicit function `(state, parameters, time) -> outputs`
 ```@example robot
-fkine = JuliaSimCompiler.build_explicit_observed_function(ssys, output)
+fkine = JuliaSimCompiler.build_explicit_observed_function(ssys, outputs)
 fkine(prob.u0, prob.p, 0)
 ```
 !!! note
@@ -140,3 +140,19 @@ unknowns(ssys)[nonzero_inds]
 ```
 We see that the end-effector position depends on all mechanical angles except for the last one, which is expected since the end-effector origin is on the axis of rotation of joint 6. 
 
+We can explicitly build a function that only takes the joint angles as inputs using `build_fun`, but care must be taken to provide all variables that actually do matter.
+```@example robot
+inputs = [
+    robot.mechanics.r1.phi
+    robot.mechanics.r2.phi
+    robot.mechanics.r3.phi
+    robot.mechanics.r4.phi
+    robot.mechanics.r5.phi
+    robot.mechanics.r6.phi
+]
+
+fkine = Multibody.build_fun(prob, inputs, outputs)
+u0dict = Dict(nameof.(unknowns(ssys)) .=> prob.u0)
+q = [u0dict[nameof(i.val.f)] for i in inputs]
+fkine(q)
+``` 
\ No newline at end of file
diff --git a/src/Multibody.jl b/src/Multibody.jl
index 4aa31110..ae379218 100644
--- a/src/Multibody.jl
+++ b/src/Multibody.jl
@@ -148,7 +148,7 @@ export point_to_point, traj5, KinematicPTP, Kinematic5
 include("robot/path_planning.jl")
 include("robot/robot_components.jl")
 include("robot/FullRobot.jl")
-
+include("robot/codegen.jl")
 
 
 end
diff --git a/src/robot/codegen.jl b/src/robot/codegen.jl
new file mode 100644
index 00000000..70edd417
--- /dev/null
+++ b/src/robot/codegen.jl
@@ -0,0 +1,25 @@
+function build_fun(prob::ODEProblem, inputs, outputs)
+    ssys = prob.f.sys
+    fkine = JuliaSimCompiler.build_explicit_observed_function(ssys, outputs)
+    x = nameof.(unknowns(ssys))
+    nx = length(x)
+
+    # ins = [JuliaSimCompiler.ADT.IRElement((i.val.f)) for i in inputs]
+    ins = [(nameof(i.val.f)) for i in inputs]
+    
+    inds = [findfirst(==(i), x) for i in ins]
+    any(isnothing, inds) && error("Could not locate all inputs in the state vector, failed to find $(inputs[inds .== nothing])")
+
+    let fkine = fkine, bufferf64 = zeros(nx)
+        function kine(q::AbstractVector{Float64}, p=prob.p, t=0)
+            bufferf64[inds] .= q
+            fkine(bufferf64, p, t)
+        end
+        function kine(q, p=prob.p, t=0)
+            T = eltype(q)
+            buffer = zeros(T, nx)
+            buffer[inds] .= q
+            fkine(buffer, p, t)
+        end
+    end
+end
\ No newline at end of file