plt.plot(*car_frame(t["goal"]), color="red", lw=2)
plt.plot(*plot_nodes([s["init"]]), color="red", marker="+", ms=12)
plt.plot(*plot_nodes([t["goal"]]), color="red", marker="+", ms=12)
+ try: # middle
+ plt.plot(*car_frame(t["midd"]), color="red", lw=2)
+ plt.plot(*plot_nodes([t["midd"]]), color="red", marker="+", ms=12)
+ except:
+ pass
plt.fill_between(
[-2.7, 3.25, 3.25, -2.7],