def METHOD_NAME(self, goal_index):
    print("final")
    path = [[self.end.x, self.end.y]]
    node = self.node_list[goal_index]
    while node.parent:
        for (ix, iy) in zip(reversed(node.path_x), reversed(node.path_y)):
            path.append([ix, iy])
        node = node.parent
    path.append([self.start.x, self.start.y])
    return path