diff --git a/include/core/state_block/state_angle.h b/include/core/state_block/state_angle.h
index 635fd6be75e01d72793b11b4987aee75a220c8e7..2f1a03f0be3cde7d9a4de4222fb3905416791924 100644
--- a/include/core/state_block/state_angle.h
+++ b/include/core/state_block/state_angle.h
@@ -25,7 +25,7 @@ class StateAngle : public StateBlock
 inline StateAngle::StateAngle(Scalar _angle, bool _fixed) :
         StateBlock(1, _fixed, std::make_shared<LocalParametrizationAngle>())
 {
-    state_(0) = _angle;
+    state_(0) = pi2pi(_angle);
 }
 
 inline StateAngle::~StateAngle()