diff --git a/utils/plotState.py b/utils/plotState.py
new file mode 100755
index 0000000..932ea60
--- /dev/null
+++ b/utils/plotState.py
@@ -0,0 +1,95 @@
+#!/usr/bin/env python3
+import os
+import argparse
+import matplotlib.pyplot as plt
+
+
+FONT_SIZE = 14
+
+def parse_trajectory(path):
+    """
+    
+    """
+
+    data = {"t": [], "x": [], "y": [], "yaw": []}
+    with open(path, 'r') as f:
+        keys = f.readline().rstrip().split(' ')  # get keys from first line, remove '/n'
+        for line in f.readlines():
+            line = line[0:-1].split(' ')
+            for i in range(len(keys)):
+                data[keys[i]].append(float(line[i]))
+
+    return data
+
+def save_plot(path, name):
+    """Saves graph to the output pkg"""
+
+    folder_path = path
+
+    print("folder_path: ", folder_path)
+    print("name: ", name)
+
+    pwd = os.getcwd()
+    os.chdir(os.path.expanduser('~'))
+    if not os.path.exists(folder_path):
+        os.makedirs(folder_path)
+
+    os.chdir(folder_path)
+    plt.savefig('{}.png'.format(name))
+    os.chdir(pwd)
+
+def plot_data(data):
+    """
+
+    """
+
+    # Initialise the subplot function using number of rows and columns
+    figure, axis = plt.subplots(2, 2)
+      
+    # For X(t) function
+    axis[0, 0].plot(data['t'], data['x'])
+    axis[0, 0].set_title("x(t)")
+
+    # For Y(t)
+    axis[0, 1].plot(data['t'], data['y'])
+    axis[0, 1].set_title("y(t)")
+      
+    # For YAW(t)
+    axis[1, 0].plot(data['t'], data['yaw'])
+    axis[1, 0].set_title("yaw(t)")
+      
+    # For Y(X)
+    axis[1, 1].plot(data['x'], data['y'])
+    axis[1, 1].set_title("y(x)")
+      
+
+
+def main():
+    """ """
+
+    plt.rcParams['font.size'] = FONT_SIZE
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument('-input', action='store', dest='input',
+                        required=True, help='absolute path to the data')
+    
+    parser.add_argument('-output', action='store', dest='output', 
+                        required=False, default="", 
+                        help="absolute path to the output folder to store images")
+
+    args = parser.parse_args()
+    input_path = args.input
+    print("input_path: ", input_path)
+
+    data = parse_trajectory(input_path)
+
+    plot_data(data)
+
+    if(args.output):
+        name = "plot_" + input_path.split('/')[-1].split('.')[0]
+        save_plot(args.output, name)
+
+    plt.show()
+
+if __name__ == "__main__":
+    main()