def METHOD_NAME(self, goal_pos: np.ndarray) -> List[Any]:
    r"""Finds the sequence actions that greedily follow the geodesic
    shortest path from the agent's current position to get to the goal
    :param goal_pos: The position of the goal
    :return: The list of actions to take. Ends with :py:`None`.
    This is roughly equivilent to just calling `next_action_along()` until
    it returns :py:`None`, but is faster.
    .. note-warning::
        Do not use this method if the agent has actuation noise.
        Instead, use :ref:`next_action_along` to find the action
        to take in a given state, then take that action, and repeat!
    """
    self.reset()
    state = self.agent.state
    path = self.impl.METHOD_NAME(
        quat_to_magnum(state.rotation), state.position, goal_pos
    )
    if len(path) == 0:
        raise errors.GreedyFollowerError()
    path = [self.action_mapping[v] for v in path]
    return path