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 <div class="textblock"><p><a class="anchor" id="md_README"></a> <a href="https://github.com/ARC-OPT/wbc/actions/workflows/build_and_test_ubuntu20.04.yml"><img src="https://github.com/ARC-OPT/wbc/actions/workflows/build_and_test_ubuntu20.04.yml/badge.svg" alt="Ubuntu 20.04" style="pointer-events: none;" class="inline"/></a> <a href="https://github.com/ARC-OPT/wbc/actions/workflows/build_and_test_ubuntu22.04.yml"><img src="https://github.com/ARC-OPT/wbc/actions/workflows/build_and_test_ubuntu22.04.yml/badge.svg" alt="Ubuntu 22.04" style="pointer-events: none;" class="inline"/></a></p>
 <h1><a class="anchor" id="autotoc_md0"></a>
 WBC - Whole-Body Control</h1>
-<p><a href="https://arc-opt.github.io/wbc/index.html">Code API</a> | <a href="https://github.com/wbc/doc/full_doc.md">Full Documentation</a></p>
+<p><a href="https://arc-opt.github.io/wbc/index.html">Code API</a> | <a href="https://arc-opt.github.io/Documentation/">Full Documentation</a></p>
 <p>WBC is C++ library for optimization-based control of redundant robots. It allows intuitive specification and execution of reactive robot control problems that involve multiple simultaneously running tasks.</p>
 <p>WBC was initiated and is currently developed at the <a href="http://robotik.dfki-bremen.de/en/startpage.html">Robotics Innovation Center</a> of the <a href="http://www.dfki.de">German Research Center for Artificial Intelligence (DFKI)</a> in Bremen. It is part of the ARC-OPT (Adaptive Robot Control using Optimization) framework, which facilitates learning and optimizing whole-body controllers from data obtained, e.g., in user demonstrations. Also see the <a href="https://robotik.dfki-bremen.de/en/research/softwaretools/arc-opt/">ARC-OPT website</a> of the Robotics Innovation Center.</p>
 <p><img src="https://github.com/ARC-OPT/wbc/blob/master/doc/images/DFKI_Logo_e_schrift.jpg" alt="" width="400" class="inline"/></p>