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$scope.goToEntity = function (id) {
    $location.path('/app/session/teacher/' + id);
};

// get the current path
$location.path();

// change the path
$location.path('/newValue');

// All of the setter methods return the same $location object to allow chaining. 
// For example, to change multiple segments in one go, chain setters like this:

$location.path('/newValue').search({key: value});