You only need to use the parameter anchorsand then use regular links:
$('#fullpage').fullpage({
anchors: ['section1', 'section2', 'section3', 'section4']
});
The link should look fine, but the prefix is โโbye #:
<a href="#section3">Link to section 3</a>
Real time example
Your urls will look like this:
http://yoursite.com/
http://yoursite.com/
http://yoursite.com/
http://yoursite.com/
html data-anchor="section1" , . :
<div id="fullpage">
<div class="section" data-anchor="section1">Section 1</div>
<div class="section" data-anchor="section2">Section 1</div>
</div>