Staff Software Engineer, Simulation (Robotics)

Location: U.S.-based role with fully remote work or hybrid work, including three days per week onsite at offices in Fremont, CA, Salem, OR, or Pittsburgh, PA; up to one week of travel per month.

Salary: $181,000–$282,000 USD annual base salary.

Company

hirify.global develops commercially deployed humanoid robots for warehouses, manufacturing facilities, and distribution centers.

What you will do

• 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.
• Integrate physics simulators and build high-fidelity robot models covering kinematics, dynamics, mass properties, actuators, transmissions, and contact behavior.
• Build automated pipelines from hardware design through robot modeling and system identification so new hardware can rapidly be used in simulation.
• Use simulation to train reinforcement learning policies, generate synthetic data, evaluate end-to-end models, and validate models against physical hardware.
• Run robot design trade studies, convert results into recommendations, and raise engineering standards through design reviews, code reviews, and mentorship.

Requirements

• 5+ years of professional software engineering experience in robotics, including 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, Gazebo, or similar.
• Experience building rigid-body robot models in URDF, MJCF, USD, or similar formats, including deriving or validating inertial, joint, and actuator parameters.
• Understanding of multibody dynamics and actuator modeling, plus experience with system identification and sim2real transfer.
• Experience with Git, CI/CD, Jira or equivalent, and feature branching.
• Ability to collaborate across hardware and software teams, translate between technical vocabularies, break down ambiguous problems, and drive 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.

Nice to have

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

Culture & Benefits

• Fully remote work or flexible hybrid arrangements; eligible roles may include relocation assistance.
• Full-time employees receive a 401(k) with a 6% company match, equity, and company-paid medical, dental, vision, and short- and long-term disability insurance from the first day.
• Benefits include paid parental leave, an Employee Assistance Program, professional development, and tuition reimbursement.
• Time off includes flexible unlimited PTO and 12 company holidays for exempt employees, or 10 vacation days, paid sick leave, and 12 holidays for non-exempt employees.
• Eligible roles may include an annual discretionary bonus; Salem and Pittsburgh offices provide catered lunches and refreshments.

Hiring process

• Apply directly through the careers page; unsolicited third-party recruiting agency referrals are not accepted.
• Applicants must have current authorization to work in the United States.