Staff Software Engineer, Simulation

This is a fully remote position, open to applicants in California, +2 more states.

📋 Description

• Design, construct, and take ownership of fundamental components within Agility's simulation framework as a founding member of the Simulation team.

• Create the hardware abstraction layer that links sensors, actuators, and physical hardware to simulation environments.

• Develop and incorporate physics simulators utilizing open-source frameworks, with an emphasis on fidelity, performance, and sim-to-real transfer.

• Construct and sustain high-fidelity robot models, encompassing kinematics, dynamics, mass properties, actuator and transmission models, as well as contact behavior.

• Establish automated pipelines that transition from hardware design to robot modeling to system identification.

• Leverage simulation to train reinforcement-learning policies, produce synthetic data, and assess end-to-end models.

• Analyze suggested robot designs through trade studies concerning actuator sizing, link geometry, range of motion, and sensor positioning.

• Convert simulation findings into actionable recommendations for design teams.

• Validate models against physical hardware data and enhance fidelity in areas where simulation and reality diverge.

• Establish engineering standards through design reviews, code assessments, and mentorship.

• Influence the technical direction, architecture, and infrastructure of the Simulation team.

• Collaborate with AI, Controls, Perception Sensors, Hardware Interfaces, Quality Assurance, and Systems Integration teams.

⛳️ Requirements

• Over 5 years of professional software engineering experience in robotics, specifically in developing simulation infrastructure, tools, or robot models for real-world robotic applications.

• Strong expertise in modern C++ and Python programming languages.

• Familiarity with at least one major robotics physics simulator (such as MuJoCo, Isaac Sim, Gazebo, or similar).

• Experience in building rigid-body robot models (like URDF, MJCF, USD, or similar), including deriving or validating inertial, joint, and actuator parameters.

• Knowledge of multibody dynamics and actuator modeling techniques.

• Experience with system identification and enhancing sim-to-real transfer efficiency.

• Proficient understanding of Git, CI/CD, Jira or similar tools, and feature branching methodologies.

• Comfortable collaborating across hardware and software teams while bridging different technical terminologies.

• Capable of deconstructing ambiguous problems and guiding them toward effective solutions with minimal supervision.

• Experience in mentoring engineers or leading technical initiatives within a small team.

• Bachelor's, Master's, or Ph.D. in Robotics, Computer Science, Mechanical Engineering, or a related discipline.

• All positions are based in the U.S.; applicants must possess 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 become effective on the first day of employment.

• Employee Assistance Program (EAP).

• Exempt employees receive flexible, unlimited PTO and 12 company holidays, including a winter shutdown.

• Non-exempt employees receive 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 available at Salem and Pittsburgh locations.

• Generous paid parental leave programs.

• Flexible work arrangements.

• Professional development and tuition reimbursement programs.

• Relocation assistance for eligible positions.

• Annual discretionary bonus for eligible roles.