Staff Software Engineer, Simulation
Agility Robotics · Hybrid- Any Office (Fremont, CA, Salem, OR, or Pittsburgh, PA); Hybrid- Fremont, CA; Remote
About this role
**Staff Software Engineer, Simulation** **About the Role** Agility Robotics is building highly capable humanoid robots and is looking for a senior engineer to help build the simulation software at the foundation of the system. You’ll be one of the first engineers on a new Simulation team, partnering with the team’s leader to shape the technical direction, architecture, and infrastructure from the ground up. You’ll work at the intersection of physics simulation, hardware abstraction, and robot learning—collaborating closely with AI, Controls, Perception Sensors, Hardware Interfaces, Quality Assurance, and Systems Integration teams to build simulation environments that accelerate development, provide insights, and enable rapid validation. **Work Model** - Hybrid: 3 days on-site per week (Salem, OR; Pittsburgh, PA; or Fremont, CA offices) - Or fully remote - Up to 1 week of travel per month **About the Work** - 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 (focus on fidelity, performance, and sim2real transfer) - Build and maintain high-fidelity robot models (kinematics, dynamics, mass properties, actuator/transmission models, and contact behavior) - Create robust automated pipelines from hardware design → robot model → system identification to rapidly enable new hardware in simulation - Use simulation to train RL policies, generate synthetic data, and evaluate end-to-end models - Use simulation for design evaluation and trade studies (actuator sizing, link geometry, range of motion, sensor placement) and turn results into clear recommendations - Validate models against physical hardware data and improve fidelity where simulation and reality diverge - Set a high bar for engineering practices through design reviews, code reviews, and mentorship as the team grows **About You** - 5+ years of professional software engineering experience in robotics (simulation infrastructure/tooling or robot models for real-world 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/validating inertial, joint, and actuator parameters - Understanding of multibody dynamics and actuator modeling - Experience with system identification and improving sim2real transfer - Solid software development practices (Git, CI/CD, Jira or equivalent, feature branching) **Collaboration** - Comfortable working across hardware and software teams and translating between 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 **Education** - B.S., M.S., or Ph.D. in Robotics, Computer Science, Mechanical Engineering, or a related field **Bonus Points** - Experience with humanoid or legged robots - Experience with CAD-to-simulation pipelines (e.g., Onshape, SolidWorks, Creo exports) - Background in mechanical engineering or mechatronics alongside software - Advanced degree (M.S. or Ph.D.) with research in simulation, multibody dynamics, or robot modeling - Ex
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