diff --git a/include/bio_ik/robot_info.h b/include/bio_ik/robot_info.h
index 68ad9ac..94171f3 100644
--- a/include/bio_ik/robot_info.h
+++ b/include/bio_ik/robot_info.h
@@ -98,7 +98,7 @@ class RobotInfo
             info.max_velocity_rcp = info.max_velocity > 0.0 ? 1.0 / info.max_velocity : 0.0;
 
             variables.push_back(info);
-            has_bounds.push_back(!bounded);
+            has_bounds.push_back(bounded);
         }
 
         for(size_t ivar = 0; ivar < model->getVariableCount(); ivar++)
diff --git a/src/kinematics_plugin.cpp b/src/kinematics_plugin.cpp
index bde08db..a1e2161 100644
--- a/src/kinematics_plugin.cpp
+++ b/src/kinematics_plugin.cpp
@@ -611,8 +611,8 @@ struct BioIKKinematicsPlugin : kinematics::KinematicsBase {
       }
       state[ivar] = v;
 
-      // wrap angles that are not continuous
-      if(!robot_info.hasBounds(ivar))
+      // wrap angles that are bounded
+      if(robot_info.hasBounds(ivar))
       {
         auto* joint_model = robot_model->getJointOfVariable(ivar);
         joint_model->enforcePositionBounds(state.data() + ivar, joint_model->getVariableBounds());