Staff Software Engineer, Simulation
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Job Description
Staff engineer building physics simulation, robot models, and sim-to-real tools for Agility Robotics’ commercially deployed humanoid robots. Partnering across AI, controls, perception, and hardware teams.
Responsibilities:
- Design, build, and own core components of Agility's simulation stack as a founding member of the Simulation team
- Develop the hardware abstraction layer connecting sensors, actuators, and physical hardware to simulation environments
- Develop and integrate physics simulators using open-source frameworks, focusing on fidelity, performance, and sim2real transfer
- Build and maintain high-fidelity robot models, including kinematics, dynamics, mass properties, actuator and transmission models, and contact behavior
- Build automated pipelines from hardware design to robot model to system identification
- Use simulation to train reinforcement-learning policies, generate synthetic data, and evaluate end-to-end models
- Evaluate proposed robot designs through trade studies on actuator sizing, link geometry, range of motion, and sensor placement
- Turn simulation results into recommendations for design teams
- Validate models against physical hardware data and improve fidelity where simulation and reality diverge
- Establish engineering practices through design reviews, code reviews, and mentorship
- Shape the Simulation team's technical direction, architecture, and infrastructure
- Partner with AI, Controls, Perception Sensors, Hardware Interfaces, Quality Assurance, and Systems Integration teams
Requirements:
- 5+ years of professional software engineering experience in robotics, including building simulation infrastructure, tooling, or robot models for real-world robotic systems
- Strong proficiency in modern C++ and Python
- Experience with at least one major robotics physics simulator (MuJoCo, Isaac Sim, Gazebo, or similar)
- Experience building rigid-body robot models (URDF, MJCF, USD, or similar), including deriving or validating inertial, joint, and actuator parameters
- Understanding of multibody dynamics and actuator modeling
- Experience with system identification and improving sim2real transfer
- Solid grasp of Git, CI/CD, Jira or equivalent, and feature branching
- Comfortable working across hardware and software teams and translating between different technical vocabularies
- Able to take ambiguous problems, break them down, and drive them to working solutions with minimal direction
- Experience mentoring engineers or leading technical efforts across a small team
- B.S., M.S., or Ph.D. in Robotics, Computer Science, Mechanical Engineering, or a related field
- All roles are U.S.-based; applicants must have current authorization to work in the United States
Benefits:
- 401(k) Plan with a 6% company match
- Company stock options
- 100% company-paid medical, dental, vision, and short/long-term disability insurance for employees
- Benefits eligible on the first day of employment
- Employee Assistance Program (EAP)
- Exempt employees: flexible, unlimited PTO and 12 company holidays, including a winter shutdown
- Non-exempt employees: 10 vacation days, paid sick leave, and 12 company holidays, including a winter shutdown
- Catered lunches four times a week and healthy snacks and refreshments at Salem and Pittsburgh locations
- Generous paid parental leave programs
- Flexible work arrangements
- Professional development and tuition reimbursement programs
- Relocation assistance for eligible roles
- Annual discretionary bonus for eligible roles
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