Plot dual points whit one point fixed

I'm trying to plot a set of points with a special feature, first plot 2 points with a random coordinates x and y, in a range from 0 to 200, but my problem is how can set this points as fixed or centers, take this center-points and from this points, plot one new point with random coordinates(as pairs of points A-a, B-b, etc), and define the distance that can't be higher than 30 meter or units of distance beetwen this points. To get the points like this

I add part of my code to make this

import matplotlib as mpl
from matplotlib.figure import Figure
import numpy as np
import matplotlib.pyplot as plt
import matplotlib.patches as mpatches
from itertools import product
from matplotlib.lines import Line2D

fig,ax=plt.subplots()
#AP POINTS
###################################################
points_xA=np.random.randint(0,200)
points_yA=np.random.randint(0,200)
points_xB=np.random.randint(0,200)
points_yB=np.random.randint(0,200)

center1=np.array([points_xA,points_yB])
center2=np.array([points_xB,points_yB])

ax.annotate("A",xy=(center1),fontsize=12,bbox={"boxstyle":"circle","color":"orange"})
ax.annotate("B",xy=(center2),fontsize=12,bbox={"boxstyle":"circle","color":"orange"})

#STA POINTS
######################################################
#points_xa=np.random.randint()
#points_ya=np.random.randint()
#points_xb=np.random.randint()
#points_yb=np.random.randint()


######################################################
#LABELS
plt.title('random points')
plt.xlabel('x(m)')
plt.ylabel('y(m)')
plt.xlim(0,210)
plt.ylim(0,210)
plt.grid(True)
plt.show()