def METHOD_NAME(self, path=None,
             url=OPENDR_SERVER_URL + "planning/end_to_end_planning"):
    if path is None:
        path = "./end_to_end_planning_tmp/"
    filename = "ardupilot.zip"
    file_destination = Path(path) / filename
    if not file_destination.exists():
        file_destination.parent.mkdir(parents=True, exist_ok=True)
        url = os.path.join(url, filename)
        urlretrieve(url=url, filename=file_destination)
    return file_destination