This listing pays about $231,500 a year. Across 403 open staff software engineer listings that state pay, the middle half runs $222,500 to $271,000 and the median is $242,500. That is inside the middle half of those listings, 5% below the median.

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About the job

Agility’s commercially deployed humanoids operate alongside teams in warehouses, manufacturing facilities, and distribution centers—tackling physically demanding and repetitive tasks while enabling workers to focus on higher-value work. With industry-leading safety standards and years of proven deployment data, we're pioneering a new era of automation that enhances human potential.

About the Role

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 can be hybrid (3 days on-site per week at one of our offices) or fully remote, with up to one 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, 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

Set a high bar for engineering practices through design reviews, code reviews, and mentorship of other engineers as the team grows

About You

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 standard software development practices: Git, CI/CD, Jira or equivalent, feature branching

Collaboration

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

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, or 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

Experience using simulation to inform hardware design decisions, such as trade studies, requirements analysis, or design-of-experiments

This is a fully remote role with the option to work hybrid if a commutable distance from our Salem, OR, Pittsburgh, PA, or Fremont, CA offices.

The final salary offered to a successful candidate will be dependent on several factors that may include but are not limited to: market location, job-related knowledge, skills, and experience. This range may change based on geographical location and may be modified in the future. Anticipated Base Salary Range $181,000 — $282,000 USD

Anticipated Salary Range $181,000 — $282,000 USD

In addition to base pay, our competitive total rewards package consists of the following for full-time employees:

401(k) Plan: Includes a 6% company match.

Equity: Company stock options.

Insurance Coverage: 100% company-paid medical, dental, vision, and short/long-term disability insurance for employees.

Benefit Start Date: Eligible for benefits on your first day of employment.

Well-Being Support: Employee Assistance Program (EAP).

Time Off:

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, annually.

On-Site Perks: Catered lunches four times a week and a variety of healthy snacks and refreshments at our Salem and Pittsburgh locations.

Parental Leave: Generous paid parental leave programs.

Work Environment: A culture that supports flexible work arrangements.

Growth Opportunities: Professional development and tuition reimbursement programs.

Relocation Assistance: Provided for eligible roles.

Annual Discretionary Bonus: Provided for eligible roles.

All of our roles are U.S.-based. Applicants must have current authorization to work in the United States.

Agility Robotics is committed to a work environment in which all individuals are treated with respect and dignity. Each individual has the right to work in a professional atmosphere that promotes equal employment opportunities and prohibits unlawful discriminatory practices, including harassment. Therefore, it is the policy of Agility Robotics to ensure equal employment opportunity without discrimination or harassment on the basis of race, color, religion, sex, sexual orientation, gender identity or expression, age, disability, marital status, citizenship, national origin, genetic information, or any other characteristic protected by law. Agility Robotics prohibits any such discrimination or harassment.

Agility Robotics does not accept unsolicited referrals from third-party recruiting agencies. We prioritize direct applicants and encourage all qualified candidates to apply directly through our careers page. If you are represented by a third party, your application may not be considered. To ensure full consideration, please apply directly.