function plot_vehicle(x,y,theta1,theta2,vgx,vgy,d)
    plot([x,x+vgx*5],[y,y+vgy*5],'-');
    hold on;
    plot(x,y,'.','MarkerSize',10);
    plot(x+d*sin(theta1+theta2),y-d*cos(theta1+theta2),'r.','MarkerSize',10);
    text(x+d*sin(theta1+theta2),y-d*cos(theta1+theta2)+0.2,'R');
    plot(x-d*sin(theta1+theta2),y+d*cos(theta1+theta2),'g.','MarkerSize',10);
    text(x-d*sin(theta1+theta2),y+d*cos(theta1+theta2)+0.2,'L');
    
    hold off;
    axis([0 10 0 10]);