diff --git a/.gitignore b/.gitignore
index bddc5c8..58e5ae3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -22,7 +22,6 @@ _site
 # saved
 run/saved/*
 !run/saved/YOPO_1
-run/yopo_trt.pth
 externals/
 
 #logs
@@ -31,4 +30,8 @@ run/utils/*.csv
 # dataset
 /run/yopo_sim/*
 /run/rknn_quantization/*
+/run/*.onnx
+/run/*.pt
+/run/*.pth
+/run/*.rknn
 
diff --git a/README.md b/README.md
index b150c3f..734fa6e 100644
--- a/README.md
+++ b/README.md
@@ -10,8 +10,12 @@ Some realworld experiment: [YouTube](https://youtu.be/LHvtbKmTwvE), [bilibili](h
 <table>
     <td align="center" style="border: none;"><img src="docs/realworld_1.gif" alt="Fig1" style="width: 100%;"></td>
     <td align="center" style="border: none;"><img src="docs/realworld_2.gif" alt="Fig2" style="width: 100%;"></td>
+    <td align="center" style="border: none; width: 23%;"><img src="docs/platform.gif" alt="Fig3" style="width: 100%;"></td>
 </table>
 
+### Hardware:
+Our drone designed by [@Mioulo](https://github.com/Mioulo) is also open-source. The hardware components are listed in [hardware_list.pdf](hardware/hardware_list.pdf), and the SolidWorks file of carbon fiber frame can be found in [/hardware](hardware/).
+
 ## Introduction:
 We propose **a learning-based planner for autonomous navigation in obstacle-dense environments** which intergrats (i) perception and mapping, (ii) front-end path searching, and (iii) back-end optimization of classical methods into a single network. 
 
diff --git a/docs/platform.gif b/docs/platform.gif
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index 0000000..79a6b7f
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diff --git a/hardware/camera_mount (0-degree).STL b/hardware/camera_mount (0-degree).STL
new file mode 100755
index 0000000..30c5c2b
Binary files /dev/null and b/hardware/camera_mount (0-degree).STL differ
diff --git a/hardware/camera_mount (15-degree).STL b/hardware/camera_mount (15-degree).STL
new file mode 100755
index 0000000..6099fd2
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diff --git a/hardware/carbon_bottom_plate.STEP b/hardware/carbon_bottom_plate.STEP
new file mode 100755
index 0000000..97df802
--- /dev/null
+++ b/hardware/carbon_bottom_plate.STEP
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+ISO-10303-21;
+HEADER;
+FILE_DESCRIPTION (( 'STEP AP214' ),
+    '1' );
+FILE_NAME ('3.5´çÏÂ̼°å.STEP',
+    '2025-05-09T02:13:38',
+    ( '' ),
+    ( '' ),
+    'SwSTEP 2.0',
+    'SolidWorks 2020',
+    '' );
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diff --git a/hardware/hardware_list.pdf b/hardware/hardware_list.pdf
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