text: from os import path
  
  from gym.envs.registration import register
  from os.path import join
  
  
  def fullpath(dir):
      model_dir = 'models'
      return join(model_dir, dir, 'world.xml')
  
  
  register(
      id='Navigate-v0',
      entry_point='environment.hsr_gym:HSREnv',
      kwargs={'xml_filepath': fullpath('navigate')}
  )
  
  register(
      id='PickAndPlace-v0',
      entry_point='environment.hsr_gym:HSREnv',
      kwargs={'xml_filepath': fullpath('pick_and_place')}
  )
  