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Staff Simulation Engineer - Dexterity

3 days, 14 hours ago
United States
Full-time
Lead
Robotics Engineer
Software Development
C++ Python
Apply Now
Apptronik

Apptronik

Apptronik develops versatile humanoid robots to tackle tasks humans prefer not to do, aiming to reshape existence and enhance universal quality of life.

Aerospace & Defense
51-250
Founded 2015
$23M raised
View All Jobs 66

Description

  • Own the accuracy of contact simulation for high-DOF robotic hands.
  • Model and tune contact parameters such as stiffness, damping, friction, and restitution against real hardware measurements.
  • Develop and maintain hand-specific collision geometry, including primitive decomposition and mesh optimization.
  • Design and execute sim-to-real validation workflows for grasping stability, fingertip contact forces, and joint behavior.
  • Calibrate simulation parameters using real sensor data, including encoders, force/torque sensors, and tactile arrays.
  • Build accurate simulation models of tactile sensing, actuator dynamics, compliance, backlash, and encoder noise.
  • Design and implement evaluation environments and dexterity benchmarks in Isaac Lab / Isaac Sim.
  • Own physical property modeling for task simulation, including contact materials, object mass/inertia, and surface textures.
  • Contribute to CAD-to-USD conversion workflows when needed, including collision mesh generation, joint limit extraction, and kinematic parameter import.

Requirements

  • 4+ years of hands-on robotic simulation experience for Senior level, or 7+ years for Staff level.
  • Experience with robotic hands or high-DOF manipulators.
  • Demonstrated experience with contact-rich simulation, not just kinematics or trajectory playback.
  • Experience with physics parameter identification (sysid) or domain randomization pipelines.
  • Proven ability to operate as a domain owner, including setting technical direction and making independent architectural decisions.
  • Strong Python skills; C++ is a plus.
  • Solid fundamentals in rigid body dynamics, contact mechanics, collision geometry, and spatial math.
  • Experience running sim-to-real comparisons with real sensor data.
  • Deep working knowledge of Isaac Sim, MuJoCo, or an equivalent modern robotics simulator (preferred).
  • Familiarity with tactile sensing or force/torque sensor integration in simulation (preferred).
  • USD proficiency, including composition arcs, layers, and stages (preferred).
  • Background in teleoperation or motion retargeting (preferred).
  • MS or PhD in Robotics, Computer Science, Mechanical Engineering, or a related field.

Benefits

  • Direct hire opportunity.
  • Equal employment opportunity and anti-discrimination protections.
  • Work on a high-impact humanoid robotics program with real-world deployment goals.

Interested in this position?

Apply directly on the company website

Apply Now

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