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diff --git a/_images/PiPER.png b/_images/PiPER.png
diff --git a/_sources/robot_user_guide/agilex/piper.rst.txt b/_sources/robot_user_guide/agilex/piper.rst.txt
@@ -0,0 +1,92 @@
+*****
+PiPER
+*****
+
+Revision History
+================
+
++----------+-------------------+----------+------------------------------------------------------+
+| Revision | Date (DD/MM/YYYY) | Author   | Changes                                              |
++==========+===================+==========+======================================================+
+| 1        | 14/1/2025         | Kang Wei | Initial release                                      |
++----------+-------------------+----------+------------------------------------------------------+
+
+1. Overview
+===========
+
+.. image:: figures/PiPER.png
+    :width: 400 px
+    :align: center
+
+PiPER by AgileX Robotics is a powerful lightweight robotic arm that excels in precision, speed, and adaptability. Compact and user-friendly, it seamlessly fits into any environment, empowering users to innovate and achieve more with ease.
+
+2. Specifications
+=================
+
+.. list-table:: Common Technical Specifications
+   :widths: 25 25
+
+   * - Degree of Freedom
+     - 6
+   * - Payload
+     - 1.5 kg 
+   * - Weight
+     - 4.2kg
+   * - Repeatability
+     - ±0.1mm
+   * - Reach
+     - 626mm
+   * - Input Voltage
+     - DC 24V
+   * - Materials
+     - Aluminum alloy boby, polymer shell
+   * - Controller
+     - Integrated
+   * - Communication
+     - CAN
+   * - Programming
+     - Drag teaching / Offline trajectory / API / PC
+   * - External Interface
+     - Power x 1, CAN x 1
+   * - Base Installation Dimensions
+     - 70mm x 70mm (M5 x 4)
+
+3. Resources
+============
+
+Videos
+------
+* Unboxing (CN): `Video Link <https://www.bilibili.com/video/BV1KcmKYWE6L/?spm_id_from=333.999.0.0>`_
+* Return to Home Position (CN): `Video Link <https://www.bilibili.com/video/BV1wDSDY1EJf/?spm_id_from=333.999.0.0>`_
+* Gripper Installation (CN): `Video Link <https://www.bilibili.com/video/BV1Ab1PYzEvr/?spm_id_from=333.999.0.0>`_
+
+Manuals
+-------
+* User Manual (EN): `PDF <https://tangrobot.sharepoint.com/:b:/s/Public-Outgoing/EfqPP2v-mhFKv-VARWnYcyUB-xQBw-88Vx5Pro3mZsgmGg?e=KTfP6b>`_
+* Quick Start Guide (EN): `PDF <https://tangrobot.sharepoint.com/:b:/s/Public-Outgoing/EZQW2Y1CL_pHm8SymXTjTsMBVfHFpi-THuqaTYGQ3FMW1g?e=rQMw0H>`_
+* User Manual (CN): `PDF <https://tangrobot.sharepoint.com/:b:/s/Public-Outgoing/EasMrjngL_pNmaawLe8mlCgBTgPMNG1hp6PRw32CDxccow?e=7q5abC>`_
+* Quick Start Guide (CN): `PDF <https://tangrobot.sharepoint.com/:b:/s/Public-Outgoing/EQBRJZsY1gdDg_do070o2goBCWjyDwGL9dohA4xCFqkNog?e=38opB8>`_
+
+Software
+--------
+* Windows Application: `APP <https://tangrobot.sharepoint.com/:u:/s/Public-Outgoing/EUN0qfdCSLVCqZPctXXr_SwB6CCPON8HHcWR5ybNwy1aOQ?e=zekJyS>`_
+* CAN Communication Protocol (CN): `CAN Protocol <https://tangrobot.sharepoint.com/:x:/s/Public-Outgoing/EXt0lngMwfpEuhgttEqFuYIBtMUkrF6Ou1ovQOHQbsWm8A?e=2FoZtv>`_ 
+
+Development
+-----------
+* SDK: `piper_sdk <https://github.com/agilexrobotics/piper_sdk>`_
+* SDK_DEMO: `piper_sdk_demo <https://github.com/agilexrobotics/piper_sdk_demo>`_
+* ROS1: `Piper_ros1_noetic <https://github.com/agilexrobotics/Piper_ros/tree/ros-noetic-no-aloha>`_
+* ROS2: 
+   * `Piper_ros2_humble <https://github.com/agilexrobotics/Piper_ros/tree/ros-humble-no-aloha>`_
+   * `Piper_ros2_foxy <https://github.com/agilexrobotics/Piper_ros/tree/ros-foxy-no-aloha>`_
+* Gazebo： `Gazebo <https://github.com/agilexrobotics/agilex_open_class/tree/master/piper>`_
+* Issac SIM： `piper_issac_sim <https://github.com/agilexrobotics/piper_isaac_sim>`_
+* URDF: `urdf <https://github.com/agilexrobotics/Piper_ros/tree/ros-noetic-no-aloha/src/piper_description/urdf>`_
+* Moveit2: `Moveit2 <https://github.com/agilexrobotics/agilex_open_class/tree/master/piper>`_
+
+CAD Models
+----------
+* PiPER Arm: `PIPER <https://tangrobot.sharepoint.com/:u:/s/Public-Outgoing/Edhy2bZ_K1VEtaVOmVpe7AEBsh_b-1CXjWN9vhLG7VqNMw?e=qyKYmB>`_
+* Gripper: `Gripper <https://tangrobot.sharepoint.com/:u:/s/Public-Outgoing/EYwTc-zvbopOqe_LtjsbhscBrMTgOvUHuVOVgNnWEDmt5w?e=WzT6bk>`_
+* Drag Teaching Tool: `Drag Tool <https://tangrobot.sharepoint.com/:u:/s/Public-Outgoing/EfaGx4MK2hxHonUwllRgDGgBz9ciPUZrmXTq3Hu4o4WAyQ?e=ZVX6uK>`_
diff --git a/_sources/robot_user_guide/manipulators.rst.txt b/_sources/robot_user_guide/manipulators.rst.txt
@@ -8,4 +8,5 @@ Robot Manipulators
    /robot_user_guide/westonrobot/wr65
    /robot_user_guide/westonrobot/wrl63
    /robot_user_guide/ufactory/xarm
-   /robot_user_guide/unitree/z1
+   /robot_user_guide/unitree/z1
+   /robot_user_guide/agilex/piper
diff --git a/_static/js/versions.js b/_static/js/versions.js
@@ -1,17 +1,21 @@
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diff --git a/genindex.html b/genindex.html
@@ -6,7 +6,7 @@
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   <title>Index &mdash; Weston Robot v0.1 documentation</title>
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diff --git a/getting_started/basics/operational_safety.html b/getting_started/basics/operational_safety.html
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   <title>Operational Safety &mdash; Weston Robot v0.1 documentation</title>
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diff --git a/getting_started/basics/robot_firmware_upgrade/agilex/agilex.html b/getting_started/basics/robot_firmware_upgrade/agilex/agilex.html
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@@ -7,7 +7,7 @@
 
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   <title>Robot Maintenance &mdash; Weston Robot v0.1 documentation</title>
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diff --git a/index.html b/index.html
@@ -7,7 +7,7 @@
 
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@@ -161,6 +161,7 @@ <h1>Welcome to Weston Robot Documentation<a class="headerlink" href="#welcome-to
 <li class="toctree-l3"><a class="reference internal" href="robot_user_guide/westonrobot/wrl63.html">Weston Robot WRL63</a></li>
 <li class="toctree-l3"><a class="reference internal" href="robot_user_guide/ufactory/xarm.html">xArm Manipulator Series</a></li>
 <li class="toctree-l3"><a class="reference internal" href="robot_user_guide/unitree/z1.html">Z1 Robot Arm</a></li>
+<li class="toctree-l3"><a class="reference internal" href="robot_user_guide/agilex/piper.html">PiPER</a></li>
 </ul>
 </li>
 </ul>

diff --git a/objects.inv b/objects.inv