diff --git a/alr_envs/mujoco/alr_reacher.py b/alr_envs/mujoco/alr_reacher.py
index 5b13203..58e273f 100644
--- a/alr_envs/mujoco/alr_reacher.py
+++ b/alr_envs/mujoco/alr_reacher.py
@@ -8,7 +8,9 @@ from alr_envs.utils.utils import angle_normalize
 
 
 class ALRReacherEnv(mujoco_env.MujocoEnv, utils.EzPickle):
-    def __init__(self, steps_before_reward=200, n_links=5, balance=True):
+    def __init__(self, steps_before_reward=200, n_links=5, balance=True, file_name=None):
+        utils.EzPickle.__init__(**locals())
+
         self._steps = 0
         self.steps_before_reward = steps_before_reward
         self.n_links = n_links
@@ -29,7 +31,6 @@ class ALRReacherEnv(mujoco_env.MujocoEnv, utils.EzPickle):
         else:
             raise ValueError(f"Invalid number of links {n_links}, only 5 or 7 allowed.")
 
-        utils.EzPickle.__init__(steps_before_reward=steps_before_reward, n_links=n_links, balance=balance)
         mujoco_env.MujocoEnv.__init__(self, os.path.join(os.path.dirname(__file__), "assets", file_name), 2)
 
     def step(self, a):
diff --git a/alr_envs/utils/utils.py b/alr_envs/utils/utils.py
index 0bca03e..2c15bcb 100644
--- a/alr_envs/utils/utils.py
+++ b/alr_envs/utils/utils.py
@@ -11,10 +11,11 @@ def angle_normalize(x, type="deg"):
     Returns:
 
     """
+
+    if type not in ["deg", "rad"]: raise ValueError(f"Invalid type {type}. Choose one of 'deg' or 'rad'.")
+
     if type == "deg":
-        return ((x + np.pi) % (2 * np.pi)) - np.pi
-    elif type == "rad":
-        two_pi = 2 * np.pi
-        return x - two_pi * np.floor((x + np.pi) / two_pi)
-    else:
-        raise ValueError(f"Invalid type {type}. Choose on of 'deg' or 'rad'.")
+        x = np.deg2rad(x) # x * pi / 180
+
+    two_pi = 2 * np.pi
+    return x - two_pi * np.floor((x + np.pi) / two_pi)