fix(perception): preserve quaternion alignment across binary ingress

tests/test_perception_binary_bridge.py

@@ -187,6 +187,21 @@ def test_cloud_validation_checks_later_bounded_chunks():
         normalized_sensor("lidar", 1, 100, struct.pack("<I", 2000) + xyz.tobytes() + bytes(2000))
 
 
+def test_wire_pose_owns_aligned_immutable_quaternion_with_exact_values():
+    from k1link.perception.geometry_math import quaternion_xyzw_to_rotation_matrix
+
+    quaternion = np.array([0.1, -0.2, 0.3, 0.9273618495495703], "<f8")
+    raw = np.array([1, 2, 3], "<f8").tobytes() + quaternion.tobytes()
+    position, decoded = normalized_sensor("pose", 1, 100, raw).value
+    assert decoded.flags.owndata and decoded.ctypes.data % 16 == 0
+    assert not decoded.flags.writeable and not position.flags.writeable
+    assert decoded.tobytes() == quaternion.tobytes()
+    assert np.array_equal(
+        quaternion_xyzw_to_rotation_matrix(decoded),
+        quaternion_xyzw_to_rotation_matrix(quaternion),
+    )
+
+
 @pytest.mark.parametrize("failure", ["socket", "receiver-registration", "source-registration"])
 def test_bridge_initialization_failure_releases_unstarted_resources(monkeypatch, failure):
     monkeypatch.syspath_prepend(