def retrace_bidirectional_path(
        self, fwd_node: Node, bwd_node: Node
    ) -> list[TPosition]:
        fwd_path = self.fwd_astar.retrace_path(fwd_node)
        bwd_path = self.bwd_astar.retrace_path(bwd_node)
        bwd_path.pop()
        bwd_path.reverse()
        path = fwd_path + bwd_path
        return path