# Import the registration function from Gymnasium
from gymnasium.envs.registration import register

register(
    id="UR5eReach-v0",
    entry_point="manip_envs.ur5e_reach:UR5eReachEnv",
    max_episode_steps=500,
    kwargs={
        "reward_type": "sparse",
    }
)

register(
    id="UR5eReachDense-v0",
    entry_point="manip_envs.ur5e_reach:UR5eReachEnv",
    max_episode_steps=500,
    kwargs={
        "reward_type": "dense",
    }
)