), Point(*polygon[1])
                c = corner_radius * (a - b).normalized()
                n = Point(-c[1], c[0])
                polygon = [a + n, b + n, b - c, b - n, a - n, a + c]
            else:
                # Expand the polygon around its center of mass
                center = Point(
                    *[sum(coords) / float(len(coords)) for coords in zip(*polygon)]
                )
                polygon = [
                    Point(*point).towards(center, -corner_radius)
                