AngularJS UI Router - change url without reloading state

Currently our project is using default $routeProvider, and I am using this "hack", to change url without reloading page:

services.service('$locationEx', ['$location', '$route', '$rootScope', function($location, $route, $rootScope) {
    $location.skipReload = function () {
        var lastRoute = $route.current;
        var un = $rootScope.$on('$locationChangeSuccess', function () {
            $route.current = lastRoute;
            un();
        });
        return $location;
    };

    return $location;
}]);

and in controller

$locationEx.skipReload().path("/category/" + $scope.model.id).replace();

I am thinking of replacing routeProvider with ui-router for nesting routes, but cant find this in ui-router.

Is it possible - do the same with angular-ui-router?

Why do I need this?
Let me explain with an example :
Route for creating new category is /category/new
after clicking on SAVE I show success-alert and I want to change route /category/new to /caterogy/23 (23 - is id of new item stored in db)

Answer

Simply you can use $state.transitionTo instead of $state.go . $state.go calls $state.transitionTo internally but automatically sets options to { location: true, inherit: true, relative: $state.$current, notify: true } . You can call $state.transitionTo and set notify: false . For example:

$state.go('.detail', {id: newId}) 

can be replaced by

$state.transitionTo('.detail', {id: newId}, {
    location: true,
    inherit: true,
    relative: $state.$current,
    notify: false
})

Edit: As suggested by fracz it can simply be:

$state.go('.detail', {id: newId}, {notify: false})