Assumptions
The area is 20m by 20m with origin at centre of area and x positive towards the right and y positive upwards. x,y gives position of ‘centre’ of robot in meters. (this makes calculations regarding sensors more straight forward.) Each sensor is 5cm from ‘centre’ of robot. Angle, A, of sensor, S, is as given in the image below
Yaw 0 is when robot is facing as shown below.
Yaw is given in anti-clockwise direction in radians.
NOTE:-The follow calculations are based on real world coordinates adjustments for screen coordinates for drawing on screen would still need to be made.
With robot at (x,y) and yaw T
Calculation of coordinates of object sensed by sensor S, where angle of S is A in degrees, A*PI/180 in radians and reading for S is r metres
(x+(r+0.05)cos(API/180 +T),y+(r+0.05)sin(API/180 +T))
Using these calculations gives the following scatter graph (which I produced in Excel - sorry but Python is not my language).
If this scattergraph is close to what you expect then above calculation is on right lines. robot path in blue, readings in red