Staff Software Engineer, Simulation

Agility Robotics•Pittsburgh, PA

9h•$181,000 - $282,000•Remote

About The Position

Agility Robotics is seeking a senior engineer to help build simulation software for its humanoid robots. As one of the first engineers on a new Simulation team, the successful candidate will work with the team leader to shape its technical direction, architecture, and infrastructure. The role sits at the intersection of physics simulation, hardware abstraction, and robot learning, partnering with AI, Controls, Perception Sensors, Hardware Interfaces, Quality Assurance, and Systems Integration teams. The work will build simulation environments that accelerate development, provide system insights, and enable rapid validation. The position may be fully remote or hybrid, with three days per week on-site for hybrid employees at an office and up to one week of travel per month. It is U.S.-based, and applicants must be authorized to work in the United States. The anticipated base salary range is $181,000–$282,000 USD; the final offer may depend on factors including location, knowledge, skills, and experience. Full-time employee rewards include a 401(k) plan with a 6% company match; company stock options; company-paid medical, dental, vision, and short- and long-term disability insurance; an Employee Assistance Program; paid parental leave; and paid time off and holidays. 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. Other offerings include catered lunches and snacks at Salem and Pittsburgh locations, professional development and tuition reimbursement, relocation assistance for eligible roles, and an annual discretionary bonus for eligible roles.

Requirements

At least 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, such as MuJoCo, Isaac Sim, or Gazebo.
Experience building rigid-body robot models using formats such as URDF, MJCF, or USD, including deriving or validating inertial, joint, and actuator parameters.
Understanding of multibody dynamics and actuator modeling.
Experience with system identification and improving sim2real transfer.
Knowledge of standard software development practices, including Git, CI/CD, Jira or equivalent, and feature branching.
Ability to collaborate across hardware and software teams and translate between different technical vocabularies.
Ability to break down ambiguous problems 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.
Current authorization to work in the United States.

Nice To Haves

Experience with humanoid or legged robots.
Experience with CAD-to-simulation pipelines, such as Onshape, SolidWorks, or Creo exports.
Background in mechanical engineering or mechatronics alongside software.
M.S. or Ph.D. with research in simulation, multibody dynamics, or robot modeling.
Experience using simulation to inform hardware design decisions, such as trade studies, requirements analysis, or design-of-experiments.

Responsibilities

Design, build, and own core components of the 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 models of new and existing robots, including kinematics, dynamics, mass properties, actuator and transmission models, and contact behavior.
Build automated pipelines from hardware design through robot modeling and system identification so new hardware designs can be used rapidly in simulation.
Use simulation to train reinforcement-learning policies, generate synthetic data, and evaluate end-to-end models.
Evaluate proposed robot designs with simulation-based trade studies, including actuator sizing, link geometry, range of motion, and sensor placement, and provide clear recommendations to design teams.
Validate models against physical hardware data and improve fidelity where simulation and reality diverge.
Set engineering standards through design reviews, code reviews, and mentorship as the team grows.

Benefits

401(k) plan with a 6% company match.
Company stock options.
100% company-paid medical, dental, vision, and short- and long-term disability insurance for employees.
Benefits eligibility beginning on the first day of employment.
Employee Assistance Program (EAP).
Flexible, unlimited PTO and 12 company holidays, including a winter shutdown, for exempt employees.
For non-exempt employees: 10 vacation days, paid sick leave, and 12 company holidays, including a winter shutdown, annually.
Catered lunches four times a week and healthy snacks and refreshments at Salem and Pittsburgh locations.
Paid parental leave programs.
Flexible work arrangements.
Professional development and tuition reimbursement programs.
Relocation assistance for eligible roles.
Annual discretionary bonus for eligible roles.