
                        Point(*point).towards(center, -corner_radius)
                        for point in polygon
                    ]

                # Draw the hull
                facecolor = (color[0], color[1], color[2], 0.25 * color[3])
                drawer = MatplotlibPolygonDrawer(ax)
                drawer.draw(
                    polygon,
                    corner_radius=corner_radius,
                    facecolor=facecolor,
                    edgecolor=color, alpha=alpha,
              