feat(kcsolve): add to_dict()/from_dict() JSON serialization for all types

Phase 3a of the solver server integration: add dict/JSON serialization
to all KCSolve pybind11 types so SolveContext and SolveResult can be
transported as JSON between the Create client, Silo server, and solver
runners.

Implementation:
- Constexpr enum string mapping tables for all 5 enums (BaseJointKind,
  SolveStatus, DiagnosticKind, MotionKind, LimitKind) with template
  bidirectional lookup helpers
- File-local to_dict/from_dict conversion functions for all 10 types
  (Transform, Part, Constraint::Limit, Constraint, MotionDef,
  SimulationParams, SolveContext, ConstraintDiagnostic,
  SolveResult::PartResult, SolveResult)
- .def("to_dict") and .def_static("from_dict") on every py::class_<>
  binding chain

Serialization details per SOLVER.md §3:
- SolveContext.to_dict() includes api_version field
- SolveContext.from_dict() validates api_version, raises ValueError on
  mismatch
- Enums serialize as strings matching pybind11 .value() names
- Transform: {position: [x,y,z], quaternion: [w,x,y,z]}
- Optional simulation serializes as None/null
- Pure pybind11 py::dict construction, no new dependencies

Tests: 16 new tests in TestKCSolveSerialization covering round-trips for
all types, all 24 BaseJointKind values, all 4 SolveStatus values,
json.dumps/loads stdlib round-trip, and error cases (missing key,
invalid enum, bad array length, wrong api_version).

src/Mod/Assembly/AssemblyTests/TestKCSolvePy.py

@@ -149,6 +149,289 @@ class TestKCSolveRegistry(unittest.TestCase):
         self.assertEqual(kcsolve.get_default(), original)
 
 
+class TestKCSolveSerialization(unittest.TestCase):
+    """Verify to_dict() / from_dict() round-trip on all KCSolve types."""
+
+    def test_transform_round_trip(self):
+        import kcsolve
+
+        t = kcsolve.Transform()
+        t.position = [1.0, 2.0, 3.0]
+        t.quaternion = [0.5, 0.5, 0.5, 0.5]
+        d = t.to_dict()
+        self.assertEqual(list(d["position"]), [1.0, 2.0, 3.0])
+        self.assertEqual(list(d["quaternion"]), [0.5, 0.5, 0.5, 0.5])
+        t2 = kcsolve.Transform.from_dict(d)
+        self.assertEqual(list(t2.position), [1.0, 2.0, 3.0])
+        self.assertEqual(list(t2.quaternion), [0.5, 0.5, 0.5, 0.5])
+
+    def test_transform_identity_round_trip(self):
+        import kcsolve
+
+        t = kcsolve.Transform.identity()
+        t2 = kcsolve.Transform.from_dict(t.to_dict())
+        self.assertEqual(list(t2.position), [0.0, 0.0, 0.0])
+        self.assertEqual(list(t2.quaternion), [1.0, 0.0, 0.0, 0.0])
+
+    def test_part_round_trip(self):
+        import kcsolve
+
+        p = kcsolve.Part()
+        p.id = "box"
+        p.mass = 2.5
+        p.grounded = True
+        p.placement = kcsolve.Transform.identity()
+        d = p.to_dict()
+        self.assertEqual(d["id"], "box")
+        self.assertAlmostEqual(d["mass"], 2.5)
+        self.assertTrue(d["grounded"])
+        p2 = kcsolve.Part.from_dict(d)
+        self.assertEqual(p2.id, "box")
+        self.assertAlmostEqual(p2.mass, 2.5)
+        self.assertTrue(p2.grounded)
+
+    def test_constraint_with_limits_round_trip(self):
+        import kcsolve
+
+        c = kcsolve.Constraint()
+        c.id = "Joint001"
+        c.part_i = "part1"
+        c.part_j = "part2"
+        c.type = kcsolve.BaseJointKind.Revolute
+        c.params = [1.5, 2.5]
+        lim = kcsolve.Constraint.Limit()
+        lim.kind = kcsolve.LimitKind.RotationMin
+        lim.value = -3.14
+        lim.tolerance = 0.01
+        c.limits = [lim]
+        d = c.to_dict()
+        self.assertEqual(d["type"], "Revolute")
+        self.assertEqual(len(d["limits"]), 1)
+        self.assertEqual(d["limits"][0]["kind"], "RotationMin")
+        c2 = kcsolve.Constraint.from_dict(d)
+        self.assertEqual(c2.type, kcsolve.BaseJointKind.Revolute)
+        self.assertEqual(len(c2.limits), 1)
+        self.assertEqual(c2.limits[0].kind, kcsolve.LimitKind.RotationMin)
+        self.assertAlmostEqual(c2.limits[0].value, -3.14)
+
+    def test_solve_context_full_round_trip(self):
+        import kcsolve
+
+        ctx = kcsolve.SolveContext()
+        p = kcsolve.Part()
+        p.id = "box"
+        p.grounded = True
+        ctx.parts = [p]
+
+        c = kcsolve.Constraint()
+        c.id = "J1"
+        c.part_i = "box"
+        c.part_j = "cyl"
+        c.type = kcsolve.BaseJointKind.Fixed
+        ctx.constraints = [c]
+        ctx.bundle_fixed = True
+
+        d = ctx.to_dict()
+        self.assertEqual(d["api_version"], kcsolve.API_VERSION_MAJOR)
+        self.assertEqual(len(d["parts"]), 1)
+        self.assertEqual(len(d["constraints"]), 1)
+        self.assertTrue(d["bundle_fixed"])
+
+        ctx2 = kcsolve.SolveContext.from_dict(d)
+        self.assertEqual(ctx2.parts[0].id, "box")
+        self.assertTrue(ctx2.parts[0].grounded)
+        self.assertEqual(ctx2.constraints[0].type, kcsolve.BaseJointKind.Fixed)
+        self.assertTrue(ctx2.bundle_fixed)
+
+    def test_solve_context_with_simulation(self):
+        import kcsolve
+
+        ctx = kcsolve.SolveContext()
+        ctx.parts = []
+        ctx.constraints = []
+        sim = kcsolve.SimulationParams()
+        sim.t_start = 0.0
+        sim.t_end = 10.0
+        sim.h_out = 0.01
+        ctx.simulation = sim
+        d = ctx.to_dict()
+        self.assertIsNotNone(d["simulation"])
+        self.assertAlmostEqual(d["simulation"]["t_end"], 10.0)
+        ctx2 = kcsolve.SolveContext.from_dict(d)
+        self.assertIsNotNone(ctx2.simulation)
+        self.assertAlmostEqual(ctx2.simulation.t_end, 10.0)
+
+    def test_solve_context_simulation_null(self):
+        import kcsolve
+
+        ctx = kcsolve.SolveContext()
+        ctx.parts = []
+        ctx.constraints = []
+        ctx.simulation = None
+        d = ctx.to_dict()
+        self.assertIsNone(d["simulation"])
+        ctx2 = kcsolve.SolveContext.from_dict(d)
+        self.assertIsNone(ctx2.simulation)
+
+    def test_solve_result_round_trip(self):
+        import kcsolve
+
+        r = kcsolve.SolveResult()
+        r.status = kcsolve.SolveStatus.Success
+        r.dof = 6
+        pr = kcsolve.SolveResult.PartResult()
+        pr.id = "box"
+        pr.placement = kcsolve.Transform.identity()
+        r.placements = [pr]
+        diag = kcsolve.ConstraintDiagnostic()
+        diag.constraint_id = "J1"
+        diag.kind = kcsolve.DiagnosticKind.Redundant
+        diag.detail = "over-constrained"
+        r.diagnostics = [diag]
+        r.num_frames = 100
+
+        d = r.to_dict()
+        self.assertEqual(d["status"], "Success")
+        self.assertEqual(d["dof"], 6)
+        self.assertEqual(d["num_frames"], 100)
+        self.assertEqual(len(d["placements"]), 1)
+        self.assertEqual(len(d["diagnostics"]), 1)
+
+        r2 = kcsolve.SolveResult.from_dict(d)
+        self.assertEqual(r2.status, kcsolve.SolveStatus.Success)
+        self.assertEqual(r2.dof, 6)
+        self.assertEqual(r2.num_frames, 100)
+        self.assertEqual(r2.placements[0].id, "box")
+        self.assertEqual(r2.diagnostics[0].kind, kcsolve.DiagnosticKind.Redundant)
+
+    def test_motion_def_round_trip(self):
+        import kcsolve
+
+        m = kcsolve.MotionDef()
+        m.kind = kcsolve.MotionKind.Rotational
+        m.joint_id = "J1"
+        m.marker_i = "part1"
+        m.marker_j = "part2"
+        m.rotation_expr = "2*pi*time"
+        m.translation_expr = ""
+        d = m.to_dict()
+        self.assertEqual(d["kind"], "Rotational")
+        self.assertEqual(d["joint_id"], "J1")
+        m2 = kcsolve.MotionDef.from_dict(d)
+        self.assertEqual(m2.kind, kcsolve.MotionKind.Rotational)
+        self.assertEqual(m2.rotation_expr, "2*pi*time")
+
+    def test_all_base_joint_kinds_round_trip(self):
+        import kcsolve
+
+        all_kinds = [
+            "Coincident",
+            "PointOnLine",
+            "PointInPlane",
+            "Concentric",
+            "Tangent",
+            "Planar",
+            "LineInPlane",
+            "Parallel",
+            "Perpendicular",
+            "Angle",
+            "Fixed",
+            "Revolute",
+            "Cylindrical",
+            "Slider",
+            "Ball",
+            "Screw",
+            "Universal",
+            "Gear",
+            "RackPinion",
+            "Cam",
+            "Slot",
+            "DistancePointPoint",
+            "DistanceCylSph",
+            "Custom",
+        ]
+        for name in all_kinds:
+            c = kcsolve.Constraint()
+            c.id = "test"
+            c.part_i = "a"
+            c.part_j = "b"
+            c.type = getattr(kcsolve.BaseJointKind, name)
+            d = c.to_dict()
+            self.assertEqual(d["type"], name)
+            c2 = kcsolve.Constraint.from_dict(d)
+            self.assertEqual(c2.type, getattr(kcsolve.BaseJointKind, name))
+
+    def test_all_solve_statuses_round_trip(self):
+        import kcsolve
+
+        for name in ("Success", "Failed", "InvalidFlip", "NoGroundedParts"):
+            r = kcsolve.SolveResult()
+            r.status = getattr(kcsolve.SolveStatus, name)
+            d = r.to_dict()
+            self.assertEqual(d["status"], name)
+            r2 = kcsolve.SolveResult.from_dict(d)
+            self.assertEqual(r2.status, getattr(kcsolve.SolveStatus, name))
+
+    def test_json_stdlib_round_trip(self):
+        import json
+
+        import kcsolve
+
+        ctx = kcsolve.SolveContext()
+        p = kcsolve.Part()
+        p.id = "box"
+        p.grounded = True
+        ctx.parts = [p]
+        ctx.constraints = []
+        d = ctx.to_dict()
+        json_str = json.dumps(d)
+        d2 = json.loads(json_str)
+        ctx2 = kcsolve.SolveContext.from_dict(d2)
+        self.assertEqual(ctx2.parts[0].id, "box")
+
+    def test_from_dict_missing_required_key(self):
+        import kcsolve
+
+        with self.assertRaises(KeyError):
+            kcsolve.Part.from_dict({"mass": 1.0, "grounded": False})
+
+    def test_from_dict_invalid_enum_string(self):
+        import kcsolve
+
+        d = {
+            "id": "J1",
+            "part_i": "a",
+            "part_j": "b",
+            "type": "Bogus",
+            "marker_i": {"position": [0, 0, 0], "quaternion": [1, 0, 0, 0]},
+            "marker_j": {"position": [0, 0, 0], "quaternion": [1, 0, 0, 0]},
+        }
+        with self.assertRaises(ValueError):
+            kcsolve.Constraint.from_dict(d)
+
+    def test_from_dict_bad_position_length(self):
+        import kcsolve
+
+        with self.assertRaises(ValueError):
+            kcsolve.Transform.from_dict(
+                {
+                    "position": [1.0, 2.0],
+                    "quaternion": [1, 0, 0, 0],
+                }
+            )
+
+    def test_from_dict_bad_api_version(self):
+        import kcsolve
+
+        d = {
+            "api_version": 99,
+            "parts": [],
+            "constraints": [],
+        }
+        with self.assertRaises(ValueError):
+            kcsolve.SolveContext.from_dict(d)
+
+
 class TestPySolver(unittest.TestCase):
     """Verify Python IKCSolver subclassing and registration."""
 

src/Mod/Assembly/Solver/bindings/kcsolve_py.cpp

@@ -31,6 +31,7 @@
 
 #include "PyIKCSolver.h"
 
+#include <cstddef>
 #include <memory>
 #include <string>
 
@@ -38,6 +39,456 @@ namespace py = pybind11;
 using namespace KCSolve;
 
 
+// ── Enum string mapping ────────────────────────────────────────────
+//
+// Constexpr tables for bidirectional enum <-> string conversion.
+// String values match the py::enum_ .value("Name", ...) names exactly,
+// which is also the JSON wire format specified in SOLVER.md §3.
+
+namespace
+{
+
+template<typename E>
+struct EnumEntry
+{
+    E value;
+    const char* name;
+};
+
+static constexpr EnumEntry<BaseJointKind> kBaseJointKindEntries[] = {
+    {BaseJointKind::Coincident,         "Coincident"},
+    {BaseJointKind::PointOnLine,        "PointOnLine"},
+    {BaseJointKind::PointInPlane,       "PointInPlane"},
+    {BaseJointKind::Concentric,         "Concentric"},
+    {BaseJointKind::Tangent,            "Tangent"},
+    {BaseJointKind::Planar,             "Planar"},
+    {BaseJointKind::LineInPlane,        "LineInPlane"},
+    {BaseJointKind::Parallel,           "Parallel"},
+    {BaseJointKind::Perpendicular,      "Perpendicular"},
+    {BaseJointKind::Angle,              "Angle"},
+    {BaseJointKind::Fixed,              "Fixed"},
+    {BaseJointKind::Revolute,           "Revolute"},
+    {BaseJointKind::Cylindrical,        "Cylindrical"},
+    {BaseJointKind::Slider,             "Slider"},
+    {BaseJointKind::Ball,               "Ball"},
+    {BaseJointKind::Screw,              "Screw"},
+    {BaseJointKind::Universal,          "Universal"},
+    {BaseJointKind::Gear,               "Gear"},
+    {BaseJointKind::RackPinion,         "RackPinion"},
+    {BaseJointKind::Cam,                "Cam"},
+    {BaseJointKind::Slot,               "Slot"},
+    {BaseJointKind::DistancePointPoint, "DistancePointPoint"},
+    {BaseJointKind::DistanceCylSph,     "DistanceCylSph"},
+    {BaseJointKind::Custom,             "Custom"},
+};
+
+static constexpr EnumEntry<SolveStatus> kSolveStatusEntries[] = {
+    {SolveStatus::Success,         "Success"},
+    {SolveStatus::Failed,          "Failed"},
+    {SolveStatus::InvalidFlip,     "InvalidFlip"},
+    {SolveStatus::NoGroundedParts, "NoGroundedParts"},
+};
+
+static constexpr EnumEntry<ConstraintDiagnostic::Kind> kDiagnosticKindEntries[] = {
+    {ConstraintDiagnostic::Kind::Redundant,          "Redundant"},
+    {ConstraintDiagnostic::Kind::Conflicting,        "Conflicting"},
+    {ConstraintDiagnostic::Kind::PartiallyRedundant, "PartiallyRedundant"},
+    {ConstraintDiagnostic::Kind::Malformed,          "Malformed"},
+};
+
+static constexpr EnumEntry<MotionDef::Kind> kMotionKindEntries[] = {
+    {MotionDef::Kind::Rotational,    "Rotational"},
+    {MotionDef::Kind::Translational, "Translational"},
+    {MotionDef::Kind::General,       "General"},
+};
+
+static constexpr EnumEntry<Constraint::Limit::Kind> kLimitKindEntries[] = {
+    {Constraint::Limit::Kind::TranslationMin, "TranslationMin"},
+    {Constraint::Limit::Kind::TranslationMax, "TranslationMax"},
+    {Constraint::Limit::Kind::RotationMin,    "RotationMin"},
+    {Constraint::Limit::Kind::RotationMax,    "RotationMax"},
+};
+
+template<typename E, std::size_t N>
+const char* enum_to_str(E val, const EnumEntry<E> (&table)[N])
+{
+    for (std::size_t i = 0; i < N; ++i) {
+        if (table[i].value == val) {
+            return table[i].name;
+        }
+    }
+    throw py::value_error("Unknown enum value: " + std::to_string(static_cast<int>(val)));
+}
+
+template<typename E, std::size_t N>
+E str_to_enum(const std::string& name, const EnumEntry<E> (&table)[N],
+              const char* enum_type_name)
+{
+    for (std::size_t i = 0; i < N; ++i) {
+        if (name == table[i].name) {
+            return table[i].value;
+        }
+    }
+    throw py::value_error(
+        std::string("Invalid ") + enum_type_name + " value: '" + name + "'");
+}
+
+
+// ── Dict conversion helpers ────────────────────────────────────────
+//
+// Standalone functions for each type so SolveContext/SolveResult can
+// reuse them without duplicating serialization logic.
+
+py::dict transform_to_dict(const Transform& t)
+{
+    py::dict d;
+    d["position"] = py::make_tuple(t.position[0], t.position[1], t.position[2]);
+    d["quaternion"] = py::make_tuple(
+        t.quaternion[0], t.quaternion[1], t.quaternion[2], t.quaternion[3]);
+    return d;
+}
+
+Transform transform_from_dict(const py::dict& d)
+{
+    Transform t;
+    auto pos = d["position"].cast<py::sequence>();
+    if (py::len(pos) != 3) {
+        throw py::value_error("position must have exactly 3 elements");
+    }
+    for (int i = 0; i < 3; ++i) {
+        t.position[static_cast<std::size_t>(i)] = pos[i].cast<double>();
+    }
+    auto quat = d["quaternion"].cast<py::sequence>();
+    if (py::len(quat) != 4) {
+        throw py::value_error("quaternion must have exactly 4 elements");
+    }
+    for (int i = 0; i < 4; ++i) {
+        t.quaternion[static_cast<std::size_t>(i)] = quat[i].cast<double>();
+    }
+    return t;
+}
+
+py::dict part_to_dict(const Part& p)
+{
+    py::dict d;
+    d["id"] = p.id;
+    d["placement"] = transform_to_dict(p.placement);
+    d["mass"] = p.mass;
+    d["grounded"] = p.grounded;
+    return d;
+}
+
+Part part_from_dict(const py::dict& d)
+{
+    Part p;
+    p.id = d["id"].cast<std::string>();
+    p.placement = transform_from_dict(d["placement"].cast<py::dict>());
+    if (d.contains("mass")) {
+        p.mass = d["mass"].cast<double>();
+    }
+    if (d.contains("grounded")) {
+        p.grounded = d["grounded"].cast<bool>();
+    }
+    return p;
+}
+
+py::dict limit_to_dict(const Constraint::Limit& lim)
+{
+    py::dict d;
+    d["kind"] = enum_to_str(lim.kind, kLimitKindEntries);
+    d["value"] = lim.value;
+    d["tolerance"] = lim.tolerance;
+    return d;
+}
+
+Constraint::Limit limit_from_dict(const py::dict& d)
+{
+    Constraint::Limit lim;
+    lim.kind = str_to_enum(d["kind"].cast<std::string>(),
+                           kLimitKindEntries, "LimitKind");
+    lim.value = d["value"].cast<double>();
+    if (d.contains("tolerance")) {
+        lim.tolerance = d["tolerance"].cast<double>();
+    }
+    return lim;
+}
+
+py::dict constraint_to_dict(const Constraint& c)
+{
+    py::dict d;
+    d["id"] = c.id;
+    d["part_i"] = c.part_i;
+    d["marker_i"] = transform_to_dict(c.marker_i);
+    d["part_j"] = c.part_j;
+    d["marker_j"] = transform_to_dict(c.marker_j);
+    d["type"] = enum_to_str(c.type, kBaseJointKindEntries);
+    d["params"] = py::cast(c.params);
+    py::list lims;
+    for (const auto& lim : c.limits) {
+        lims.append(limit_to_dict(lim));
+    }
+    d["limits"] = lims;
+    d["activated"] = c.activated;
+    return d;
+}
+
+Constraint constraint_from_dict(const py::dict& d)
+{
+    Constraint c;
+    c.id = d["id"].cast<std::string>();
+    c.part_i = d["part_i"].cast<std::string>();
+    c.marker_i = transform_from_dict(d["marker_i"].cast<py::dict>());
+    c.part_j = d["part_j"].cast<std::string>();
+    c.marker_j = transform_from_dict(d["marker_j"].cast<py::dict>());
+    c.type = str_to_enum(d["type"].cast<std::string>(),
+                         kBaseJointKindEntries, "BaseJointKind");
+    if (d.contains("params")) {
+        c.params = d["params"].cast<std::vector<double>>();
+    }
+    if (d.contains("limits")) {
+        for (auto item : d["limits"]) {
+            c.limits.push_back(limit_from_dict(item.cast<py::dict>()));
+        }
+    }
+    if (d.contains("activated")) {
+        c.activated = d["activated"].cast<bool>();
+    }
+    return c;
+}
+
+py::dict motion_to_dict(const MotionDef& m)
+{
+    py::dict d;
+    d["kind"] = enum_to_str(m.kind, kMotionKindEntries);
+    d["joint_id"] = m.joint_id;
+    d["marker_i"] = m.marker_i;
+    d["marker_j"] = m.marker_j;
+    d["rotation_expr"] = m.rotation_expr;
+    d["translation_expr"] = m.translation_expr;
+    return d;
+}
+
+MotionDef motion_from_dict(const py::dict& d)
+{
+    MotionDef m;
+    m.kind = str_to_enum(d["kind"].cast<std::string>(),
+                         kMotionKindEntries, "MotionKind");
+    m.joint_id = d["joint_id"].cast<std::string>();
+    if (d.contains("marker_i")) {
+        m.marker_i = d["marker_i"].cast<std::string>();
+    }
+    if (d.contains("marker_j")) {
+        m.marker_j = d["marker_j"].cast<std::string>();
+    }
+    if (d.contains("rotation_expr")) {
+        m.rotation_expr = d["rotation_expr"].cast<std::string>();
+    }
+    if (d.contains("translation_expr")) {
+        m.translation_expr = d["translation_expr"].cast<std::string>();
+    }
+    return m;
+}
+
+py::dict sim_to_dict(const SimulationParams& s)
+{
+    py::dict d;
+    d["t_start"] = s.t_start;
+    d["t_end"] = s.t_end;
+    d["h_out"] = s.h_out;
+    d["h_min"] = s.h_min;
+    d["h_max"] = s.h_max;
+    d["error_tol"] = s.error_tol;
+    return d;
+}
+
+SimulationParams sim_from_dict(const py::dict& d)
+{
+    SimulationParams s;
+    if (d.contains("t_start")) {
+        s.t_start = d["t_start"].cast<double>();
+    }
+    if (d.contains("t_end")) {
+        s.t_end = d["t_end"].cast<double>();
+    }
+    if (d.contains("h_out")) {
+        s.h_out = d["h_out"].cast<double>();
+    }
+    if (d.contains("h_min")) {
+        s.h_min = d["h_min"].cast<double>();
+    }
+    if (d.contains("h_max")) {
+        s.h_max = d["h_max"].cast<double>();
+    }
+    if (d.contains("error_tol")) {
+        s.error_tol = d["error_tol"].cast<double>();
+    }
+    return s;
+}
+
+py::dict diagnostic_to_dict(const ConstraintDiagnostic& diag)
+{
+    py::dict d;
+    d["constraint_id"] = diag.constraint_id;
+    d["kind"] = enum_to_str(diag.kind, kDiagnosticKindEntries);
+    d["detail"] = diag.detail;
+    return d;
+}
+
+ConstraintDiagnostic diagnostic_from_dict(const py::dict& d)
+{
+    ConstraintDiagnostic diag;
+    diag.constraint_id = d["constraint_id"].cast<std::string>();
+    diag.kind = str_to_enum(d["kind"].cast<std::string>(),
+                            kDiagnosticKindEntries, "DiagnosticKind");
+    if (d.contains("detail")) {
+        diag.detail = d["detail"].cast<std::string>();
+    }
+    return diag;
+}
+
+py::dict part_result_to_dict(const SolveResult::PartResult& pr)
+{
+    py::dict d;
+    d["id"] = pr.id;
+    d["placement"] = transform_to_dict(pr.placement);
+    return d;
+}
+
+SolveResult::PartResult part_result_from_dict(const py::dict& d)
+{
+    SolveResult::PartResult pr;
+    pr.id = d["id"].cast<std::string>();
+    pr.placement = transform_from_dict(d["placement"].cast<py::dict>());
+    return pr;
+}
+
+py::dict solve_context_to_dict(const SolveContext& ctx)
+{
+    py::dict d;
+    d["api_version"] = API_VERSION_MAJOR;
+
+    py::list parts;
+    for (const auto& p : ctx.parts) {
+        parts.append(part_to_dict(p));
+    }
+    d["parts"] = parts;
+
+    py::list constraints;
+    for (const auto& c : ctx.constraints) {
+        constraints.append(constraint_to_dict(c));
+    }
+    d["constraints"] = constraints;
+
+    py::list motions;
+    for (const auto& m : ctx.motions) {
+        motions.append(motion_to_dict(m));
+    }
+    d["motions"] = motions;
+
+    if (ctx.simulation.has_value()) {
+        d["simulation"] = sim_to_dict(*ctx.simulation);
+    }
+    else {
+        d["simulation"] = py::none();
+    }
+
+    d["bundle_fixed"] = ctx.bundle_fixed;
+    return d;
+}
+
+SolveContext solve_context_from_dict(const py::dict& d)
+{
+    SolveContext ctx;
+
+    if (d.contains("api_version")) {
+        int v = d["api_version"].cast<int>();
+        if (v != API_VERSION_MAJOR) {
+            throw py::value_error(
+                "Unsupported api_version " + std::to_string(v)
+                + ", expected " + std::to_string(API_VERSION_MAJOR));
+        }
+    }
+
+    for (auto item : d["parts"]) {
+        ctx.parts.push_back(part_from_dict(item.cast<py::dict>()));
+    }
+
+    for (auto item : d["constraints"]) {
+        ctx.constraints.push_back(constraint_from_dict(item.cast<py::dict>()));
+    }
+
+    if (d.contains("motions")) {
+        for (auto item : d["motions"]) {
+            ctx.motions.push_back(motion_from_dict(item.cast<py::dict>()));
+        }
+    }
+
+    if (d.contains("simulation") && !d["simulation"].is_none()) {
+        ctx.simulation = sim_from_dict(d["simulation"].cast<py::dict>());
+    }
+
+    if (d.contains("bundle_fixed")) {
+        ctx.bundle_fixed = d["bundle_fixed"].cast<bool>();
+    }
+
+    return ctx;
+}
+
+py::dict solve_result_to_dict(const SolveResult& r)
+{
+    py::dict d;
+    d["status"] = enum_to_str(r.status, kSolveStatusEntries);
+
+    py::list placements;
+    for (const auto& pr : r.placements) {
+        placements.append(part_result_to_dict(pr));
+    }
+    d["placements"] = placements;
+
+    d["dof"] = r.dof;
+
+    py::list diagnostics;
+    for (const auto& diag : r.diagnostics) {
+        diagnostics.append(diagnostic_to_dict(diag));
+    }
+    d["diagnostics"] = diagnostics;
+
+    d["num_frames"] = r.num_frames;
+    return d;
+}
+
+SolveResult solve_result_from_dict(const py::dict& d)
+{
+    SolveResult r;
+    r.status = str_to_enum(d["status"].cast<std::string>(),
+                           kSolveStatusEntries, "SolveStatus");
+
+    if (d.contains("placements")) {
+        for (auto item : d["placements"]) {
+            r.placements.push_back(part_result_from_dict(item.cast<py::dict>()));
+        }
+    }
+
+    if (d.contains("dof")) {
+        r.dof = d["dof"].cast<int>();
+    }
+
+    if (d.contains("diagnostics")) {
+        for (auto item : d["diagnostics"]) {
+            r.diagnostics.push_back(diagnostic_from_dict(item.cast<py::dict>()));
+        }
+    }
+
+    if (d.contains("num_frames")) {
+        r.num_frames = d["num_frames"].cast<std::size_t>();
+    }
+
+    return r;
+}
+
+}  // anonymous namespace
+
+
 // ── PySolverHolder ─────────────────────────────────────────────────
 //
 // Wraps a Python IKCSolver subclass instance so it can live inside a
@@ -216,14 +667,18 @@ PYBIND11_MODULE(kcsolve, m)
                 + std::to_string(t.position[0]) + ", "
                 + std::to_string(t.position[1]) + ", "
                 + std::to_string(t.position[2]) + "]>";
-        });
+        })
+        .def("to_dict", [](const Transform& t) { return transform_to_dict(t); })
+        .def_static("from_dict", [](const py::dict& d) { return transform_from_dict(d); });
 
     py::class_<Part>(m, "Part")
         .def(py::init<>())
         .def_readwrite("id", &Part::id)
         .def_readwrite("placement", &Part::placement)
         .def_readwrite("mass", &Part::mass)
-        .def_readwrite("grounded", &Part::grounded);
+        .def_readwrite("grounded", &Part::grounded)
+        .def("to_dict", [](const Part& p) { return part_to_dict(p); })
+        .def_static("from_dict", [](const py::dict& d) { return part_from_dict(d); });
 
     auto constraint_class = py::class_<Constraint>(m, "Constraint");
 
@@ -231,7 +686,9 @@ PYBIND11_MODULE(kcsolve, m)
         .def(py::init<>())
         .def_readwrite("kind", &Constraint::Limit::kind)
         .def_readwrite("value", &Constraint::Limit::value)
-        .def_readwrite("tolerance", &Constraint::Limit::tolerance);
+        .def_readwrite("tolerance", &Constraint::Limit::tolerance)
+        .def("to_dict", [](const Constraint::Limit& l) { return limit_to_dict(l); })
+        .def_static("from_dict", [](const py::dict& d) { return limit_from_dict(d); });
 
     constraint_class
         .def(py::init<>())
@@ -243,7 +700,9 @@ PYBIND11_MODULE(kcsolve, m)
         .def_readwrite("type", &Constraint::type)
         .def_readwrite("params", &Constraint::params)
         .def_readwrite("limits", &Constraint::limits)
-        .def_readwrite("activated", &Constraint::activated);
+        .def_readwrite("activated", &Constraint::activated)
+        .def("to_dict", [](const Constraint& c) { return constraint_to_dict(c); })
+        .def_static("from_dict", [](const py::dict& d) { return constraint_from_dict(d); });
 
     py::class_<MotionDef>(m, "MotionDef")
         .def(py::init<>())
@@ -252,7 +711,9 @@ PYBIND11_MODULE(kcsolve, m)
         .def_readwrite("marker_i", &MotionDef::marker_i)
         .def_readwrite("marker_j", &MotionDef::marker_j)
         .def_readwrite("rotation_expr", &MotionDef::rotation_expr)
-        .def_readwrite("translation_expr", &MotionDef::translation_expr);
+        .def_readwrite("translation_expr", &MotionDef::translation_expr)
+        .def("to_dict", [](const MotionDef& m) { return motion_to_dict(m); })
+        .def_static("from_dict", [](const py::dict& d) { return motion_from_dict(d); });
 
     py::class_<SimulationParams>(m, "SimulationParams")
         .def(py::init<>())
@@ -261,7 +722,9 @@ PYBIND11_MODULE(kcsolve, m)
         .def_readwrite("h_out", &SimulationParams::h_out)
         .def_readwrite("h_min", &SimulationParams::h_min)
         .def_readwrite("h_max", &SimulationParams::h_max)
-        .def_readwrite("error_tol", &SimulationParams::error_tol);
+        .def_readwrite("error_tol", &SimulationParams::error_tol)
+        .def("to_dict", [](const SimulationParams& s) { return sim_to_dict(s); })
+        .def_static("from_dict", [](const py::dict& d) { return sim_from_dict(d); });
 
     py::class_<SolveContext>(m, "SolveContext")
         .def(py::init<>())
@@ -269,20 +732,26 @@ PYBIND11_MODULE(kcsolve, m)
         .def_readwrite("constraints", &SolveContext::constraints)
         .def_readwrite("motions", &SolveContext::motions)
         .def_readwrite("simulation", &SolveContext::simulation)
-        .def_readwrite("bundle_fixed", &SolveContext::bundle_fixed);
+        .def_readwrite("bundle_fixed", &SolveContext::bundle_fixed)
+        .def("to_dict", [](const SolveContext& ctx) { return solve_context_to_dict(ctx); })
+        .def_static("from_dict", [](const py::dict& d) { return solve_context_from_dict(d); });
 
     py::class_<ConstraintDiagnostic>(m, "ConstraintDiagnostic")
         .def(py::init<>())
         .def_readwrite("constraint_id", &ConstraintDiagnostic::constraint_id)
         .def_readwrite("kind", &ConstraintDiagnostic::kind)
-        .def_readwrite("detail", &ConstraintDiagnostic::detail);
+        .def_readwrite("detail", &ConstraintDiagnostic::detail)
+        .def("to_dict", [](const ConstraintDiagnostic& d) { return diagnostic_to_dict(d); })
+        .def_static("from_dict", [](const py::dict& d) { return diagnostic_from_dict(d); });
 
     auto result_class = py::class_<SolveResult>(m, "SolveResult");
 
     py::class_<SolveResult::PartResult>(result_class, "PartResult")
         .def(py::init<>())
         .def_readwrite("id", &SolveResult::PartResult::id)
-        .def_readwrite("placement", &SolveResult::PartResult::placement);
+        .def_readwrite("placement", &SolveResult::PartResult::placement)
+        .def("to_dict", [](const SolveResult::PartResult& pr) { return part_result_to_dict(pr); })
+        .def_static("from_dict", [](const py::dict& d) { return part_result_from_dict(d); });
 
     result_class
         .def(py::init<>())
@@ -290,7 +759,9 @@ PYBIND11_MODULE(kcsolve, m)
         .def_readwrite("placements", &SolveResult::placements)
         .def_readwrite("dof", &SolveResult::dof)
         .def_readwrite("diagnostics", &SolveResult::diagnostics)
-        .def_readwrite("num_frames", &SolveResult::num_frames);
+        .def_readwrite("num_frames", &SolveResult::num_frames)
+        .def("to_dict", [](const SolveResult& r) { return solve_result_to_dict(r); })
+        .def_static("from_dict", [](const py::dict& d) { return solve_result_from_dict(d); });
 
     // ── IKCSolver (with trampoline for Python subclassing) ─────────