diff --git a/app/libs/unity-bridge.aar b/app/libs/unity-bridge.aar
index 8fb521b..4ba3da3 100644
Binary files a/app/libs/unity-bridge.aar and b/app/libs/unity-bridge.aar differ
diff --git a/app/src/main/java/com/kiwii/controlpanel/data/BridgeRepository.kt b/app/src/main/java/com/kiwii/controlpanel/data/BridgeRepository.kt
index 558bc1a..89930b6 100644
--- a/app/src/main/java/com/kiwii/controlpanel/data/BridgeRepository.kt
+++ b/app/src/main/java/com/kiwii/controlpanel/data/BridgeRepository.kt
@@ -36,31 +36,63 @@ class BridgeRepository {
     fun getLatestPoseFrameJson(): String = KiwiiRuntimeClientBridge.getLatestPoseFrameJson()
     fun getLatestBodyPoseFrameJson(): String = KiwiiRuntimeClientBridge.getLatestBodyPoseFrameJson()
 
-    fun getLeftHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getLatestLeftHandleIMU()
+    fun getLeftHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getLeftHandleIMULatest()
+
     fun getLeftHandleIMUQueue(): Array<FloatArray> {
-        val latest = KiwiiRuntimeClientBridge.getLatestLeftHandleIMU()
+        val queue = readHandleImuQueueCompat("getLeftHandleIMUQueue")
+        if (queue.isNotEmpty()) return queue
+        val latest = getLeftHandleIMULatest()
         return if (latest.isEmpty()) emptyArray() else arrayOf(latest)
     }
+
     fun submitLeftStaticEffect(effectId: Int): String = KiwiiRuntimeClientBridge.submitLeftStaticEffect(effectId)
     fun submitLeftHeStream(streamId: Int, payload: String): String =
-        KiwiiRuntimeClientBridge.submitLeftHeStream(buildHeStreamPatternJson(streamId, payload))
+        KiwiiRuntimeClientBridge.submitLeftHeStream(streamId, buildHeStreamPatternJson(streamId, payload))
+
+    fun getRightHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getRightHandleIMULatest()
 
-    fun getRightHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getLatestRightHandleIMU()
     fun getRightHandleIMUQueue(): Array<FloatArray> {
-        val latest = KiwiiRuntimeClientBridge.getLatestRightHandleIMU()
+        val queue = readHandleImuQueueCompat("getRightHandleIMUQueue")
+        if (queue.isNotEmpty()) return queue
+        val latest = getRightHandleIMULatest()
         return if (latest.isEmpty()) emptyArray() else arrayOf(latest)
     }
+
     fun submitRightStaticEffect(effectId: Int): String = KiwiiRuntimeClientBridge.submitRightStaticEffect(effectId)
     fun submitRightHeStream(streamId: Int, payload: String): String =
-        KiwiiRuntimeClientBridge.submitRightHeStream(buildHeStreamPatternJson(streamId, payload))
+        KiwiiRuntimeClientBridge.submitRightHeStream(streamId, buildHeStreamPatternJson(streamId, payload))
 
     fun getHandleStateJson(): String = KiwiiRuntimeClientBridge.getHandleStateJson()
 
     fun setMotorWeightKg(weight: Float): com.kiwii.bridge.MotorCommandResult = KiwiiRuntimeClientBridge.setMotorWeightKg(weight)
     fun setMotorTrainingMode(mode: Int, param: Float): String = KiwiiRuntimeClientBridge.setMotorTrainingMode(mode, param)
+    fun setMotorForceControlParamsJson(paramsJson: String): String {
+        return try {
+            val method = KiwiiRuntimeClientBridge::class.java.getMethod("setMotorForceControlParamsJson", String::class.java)
+            method.invoke(null, paramsJson) as? String ?: "{\"error\":\"setMotorForceControlParamsJson returned null\"}"
+        } catch (t: Throwable) {
+            "{\"error\":\"setMotorForceControlParamsJson unavailable: ${t.message}\"}"
+        }
+    }
     fun queryMotorTrainingMode(axis: Int): String = KiwiiRuntimeClientBridge.queryMotorTrainingMode(axis)
     fun getLatestMotorStateJson(): String = KiwiiRuntimeClientBridge.getLatestMotorStateJson()
     fun getMotorControlStateJson(): String = KiwiiRuntimeClientBridge.getMotorControlStateJson()
+    fun getMotorDisconnectDiagnosisJson(): String {
+        return try {
+            val method = KiwiiRuntimeClientBridge::class.java.getMethod("getMotorDisconnectDiagnosisJson")
+            method.invoke(null) as? String ?: "{\"error\":\"getMotorDisconnectDiagnosisJson returned null\"}"
+        } catch (t: Throwable) {
+            "{\"error\":\"getMotorDisconnectDiagnosisJson unavailable: ${t.message}\"}"
+        }
+    }
+    fun sendMotorHeartbeat(): String {
+        return try {
+            val method = KiwiiRuntimeClientBridge::class.java.getMethod("sendMotorHeartbeat")
+            method.invoke(null) as? String ?: "{\"error\":\"sendMotorHeartbeat returned null\"}"
+        } catch (t: Throwable) {
+            "{\"error\":\"sendMotorHeartbeat unavailable: ${t.message}\"}"
+        }
+    }
 
     fun getTelemetryStateJson(): String = KiwiiRuntimeClientBridge.getTelemetryStateJson()
     fun getSafetyStateJson(): String = KiwiiRuntimeClientBridge.getSafetyStateJson()
@@ -68,6 +100,41 @@ class BridgeRepository {
     fun submitDeviceCommandDryRun(command: String): String = KiwiiRuntimeClientBridge.submitDeviceCommandDryRun(command)
     fun getDeviceCommandStateJson(): String = KiwiiRuntimeClientBridge.getDeviceCommandStateJson()
 
+    private fun readHandleImuQueueCompat(methodName: String): Array<FloatArray> {
+        return try {
+            val method = KiwiiRuntimeClientBridge::class.java.getMethod(methodName)
+            when (val value = method.invoke(null)) {
+                is Array<*> -> {
+                    @Suppress("UNCHECKED_CAST")
+                    value.filterIsInstance<FloatArray>().toTypedArray()
+                }
+                is FloatArray -> splitFlatImuQueue(value)
+                else -> emptyArray()
+            }
+        } catch (_: Throwable) {
+            emptyArray()
+        }
+    }
+
+    private fun splitFlatImuQueue(flat: FloatArray): Array<FloatArray> {
+        if (flat.isEmpty()) return emptyArray()
+        val sampleSize = when {
+            flat.size % 10 == 0 -> 10
+            flat.size % 9 == 0 -> 9
+            flat.size % 7 == 0 -> 7
+            else -> flat.size
+        }
+        if (sampleSize <= 0) return emptyArray()
+        val out = ArrayList<FloatArray>()
+        var offset = 0
+        while (offset < flat.size) {
+            val end = minOf(offset + sampleSize, flat.size)
+            out.add(flat.copyOfRange(offset, end))
+            offset = end
+        }
+        return out.toTypedArray()
+    }
+
     private fun buildHeStreamPatternJson(streamId: Int, payload: String): String {
         val trimmed = payload.trim()
         if (trimmed.startsWith("{")) return trimmed