def set_pos(self, pos_2d):
self.pos_2d = pos_2d
o = pos_2d
w = 0.5 * self.sensor_width
d = self.depth
c = d / 1.4242
s = w - c
p0 = o + Vector((s, w))
p1 = o + Vector((w, s))
p2 = o + Vector((c, 0))
p3 = o + Vector((w, -s))
p4 = o + Vector((s, -w))
p5 = o + Vector((0, -c))
p6 = o + Vector((-s, -w))
p7 = o + Vector((-w, -s))
p8 = o + Vector((-c, 0))
p9 = o + Vector((-w, s))
p10 = o + Vector((-s, w))
p11 = o + Vector((0, c))
self.branch_0.set_pos([p11, p0, p1, p2, o])
self.branch_1.set_pos([p2, p3, p4, p5, o])
self.branch_2.set_pos([p5, p6, p7, p8, o])
self.branch_3.set_pos([p8, p9, p10, p11, o])
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