diff --git a/evo/tools/plot.py b/evo/tools/plot.py
index 2bcaf7d2..6a6b1f63 100644
--- a/evo/tools/plot.py
+++ b/evo/tools/plot.py
@@ -628,8 +628,8 @@ def traj_rpy(axarr: np.ndarray, traj: trajectory.PosePath3D, style: str = '-',
xlabel = "index"
ylabels = ["$roll$ (deg)", "$pitch$ (deg)", "$yaw$ (deg)"]
for i in range(0, 3):
- axarr[i].plot(x, np.rad2deg(angles[:, i]), style, color=color,
- label=label, alpha=alpha)
+ axarr[i].plot(x, np.rad2deg(np.unwrap(angles[:, i])), style,
+ color=color, label=label, alpha=alpha)
axarr[i].set_ylabel(ylabels[i])
axarr[2].set_xlabel(xlabel)
if label: