diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index a1282bc..e8863e1 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -19,7 +19,7 @@ jobs:
         catkin-build: [catkin, standalone]
         build-type: [RelWithDebInfo, Debug]
         mc-rtc-version: [head, stable]
-        motion-type: [SampleMotion]
+        motion-type: [UpperBodyRetargeting]
         exclude:
           - build-type: Debug
             mc-rtc-version: stable
@@ -46,7 +46,7 @@ jobs:
              [ "${{ matrix.catkin-build }}" == "catkin" ] && \
              [ "${{ matrix.build-type }}" == "RelWithDebInfo" ] && \
              [ "${{ matrix.mc-rtc-version }}" == "head" ] && \
-             [ "${{ matrix.motion-type }}" == "MotionSampleField" ] && \
+             [ "${{ matrix.motion-type }}" == "UpperBodyRetargeting" ] && \
              [ "${{ github.repository_owner }}" == "isri-aist" ] && \
              [ "${{ github.ref }}" == "refs/heads/master" ]
           then
@@ -99,3 +99,26 @@ jobs:
           catkin-test-args: --no-deps
           build-packages: human_retargeting_controller
           test-packages: human_retargeting_controller
+      - name: Upload documentation
+        if: env.UPLOAD_DOCUMENTATION == 'true'
+        run: |
+          set -e
+          set -x
+          cd ${GITHUB_WORKSPACE}/catkin_ws/src/${{ github.repository }}
+          git config --global user.name "Masaki Murooka"
+          git config --global user.email "m-murooka@aist.go.jp"
+          git remote set-url origin "https://mmurooka:${{ secrets.CI_TOKEN }}@github.com/isri-aist/HumanRetargetingController"
+          git fetch --depth=1 origin gh-pages:gh-pages
+          git clean -dfx
+          rm -rf cmake/
+          git checkout --quiet gh-pages
+          rm -rf doxygen/
+          cp -r ${GITHUB_WORKSPACE}/catkin_ws/build/human_retargeting_controller/doc/html/ doxygen
+          git add doxygen
+          git_status=`git status -s`
+          if test -n "$git_status"; then
+            git commit --quiet -m "Update Doxygen HTML files from commit ${{ github.sha }}"
+            git push origin gh-pages
+          else
+            echo "Github pages documentation is already up-to-date."
+          fi