Software Engineer III, Simulation

Agility Robotics is building the world's most capable humanoid robots, and we're looking for a senior engineer to help build the simulation software at the foundation of it. You'll be one of the first engineers on a new Simulation team, working alongside the team's leader to shape its technical direction, architecture, and infrastructure from the ground up.

You'll work at the intersection of physics simulation, hardware abstraction, and robot learning, partnering closely with our AI, Controls, Perception Sensors, Hardware Interfaces, Quality Assurance, and Systems Integration teams to build simulation environments that accelerate development, provide insights into the system, and enable rapid validation.

This role is hybrid (3 days on-site per week at one of our offices).

• 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, with a focus 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 robust automated pipelines from hardware design, to robot model, to system-identification, allowing new hardware designs to rapidly be used in sim
• Use simulation to train RL policies, generate synthetic data and evaluate end-to-end models
• Use simulation to evaluate proposed robot designs, running trade studies on things like actuator sizing, link geometry, range of motion, and sensor placement, and turn the results into clear recommendations for design teams
• Validate models against physical hardware data and improve fidelity where simulation and reality diverge
• 2+ years of professional software engineering experience in robotics, simulation or an adjacent industry or a PhD in robotics or computer science
• 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)
• Experience with cloud infrastructure and compute at scale
• Solid grasp of standard software development practices: Git, CI/CD, Jira or equivalent, 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
• B.S., M.S., or Ph.D. in Robotics, Computer Science, Mechanical Engineering, or a related field
• Experience with humanoid or legged robots
• Experience with CAD-to-simulation pipelines (e.g., Onshape, SolidWorks, or Creo exports)
• Experience with system identification or parameter estimation from hardware data
• Background in mechanical engineering or mechatronics alongside software
• Advanced degree (M.S. or Ph.D.) with research in simulation, multibody dynamics, or robot modeling
• Experience using simulation to train and evaluate policies

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