Function rotate_state_rank_blocks_two_sided 

pub fn rotate_state_rank_blocks_two_sided<const D: usize, const DB: usize>(
    v: Tensor<D>,
    ql: Tensor<DB>,
    qr: Tensor<DB>,
) -> Tensor<D>

Apply a per-block two-sided quaternion rotation to the state_rank axis of v: v ↦ ql ⊗ v ⊗ qr per 4-block.

This is the general SO(4) element (RotationKind::Rotor4D); pass qr = (1,0,0,0) to recover rotate_state_rank_blocks. Absorbing the inverse cumulative rotation into B/C (B̄ = P⁻¹B with P(v) = Q v T̄) is ql = conj(Q), qr = T — note the conjugate is on the left factor only.

Shapes as rotate_state_rank_blocks: v is [..., state_rank], both quaternions [..., J, 4], and DB = D + 1.