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 # WBC - Whole-Body Control
 
-[Code API](https://arc-opt.github.io/wbc/index.html)  | [Full Documentation](https://arc-opt.github.io/wbc/doc/full_doc.md)
+[Code API](https://arc-opt.github.io/wbc/index.html)  | [Full Documentation](https://github.com/wbc/doc/full_doc.md)
 
 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.