You only need to use the anchors
option and then use normal links:
$('#fullpage').fullpage({
anchors: ['section1', 'section2', 'section3', 'section4']
});
The link should look normally, but prefixed bye #
:
<a href="#section3">Link to section 3</a>
Your URLs will look like:
http://yoursite.com/#section1
http://yoursite.com/#section2
http://yoursite.com/#section3
http://yoursite.com/#section4
Now it is also possible to use the html attribute data-anchor="section1"
in each section in order to define the anchor for it. For example:
<div id="fullpage">
<div class="section" data-anchor="section1">Section 1</div>
<div class="section" data-anchor="section2">Section 1</div>
</div>