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Staff Simulation Engineer - Dexterity

10 hours, 10 minutes ago
United States
Full-time
Lead
Research Scientist
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 59

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 comparing grasp stability, fingertip contact forces, and joint behavior between simulation and hardware.
  • Drive iterative parameter calibration 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 and Isaac Sim.
  • Own physical property modeling for task simulation, including contact materials, object mass and inertia, and surface textures.
  • Contribute to CAD-to-USD conversion workflows such as collision mesh generation, joint limit extraction, and kinematic parameter import.

Requirements

  • 4+ years of hands-on robotic simulation experience for Senior-level candidates; 7+ years for Staff-level candidates.
  • 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 using real sensor data.
  • Deep working knowledge of Isaac Sim, MuJoCo, or an equivalent modern robotics simulator is preferred.
  • Familiarity with tactile sensing or force/torque sensor integration in simulation is preferred.
  • USD proficiency, including composition arcs, layers, and stages, is preferred.
  • Background in teleoperation or motion retargeting is preferred.
  • MS or PhD in Robotics, Computer Science, Mechanical Engineering, or a related field.
  • Must be able to meet the stated physical requirements, including prolonged computer work and lifting up to 15 pounds at times.

Interested in this position?

Apply directly on the company website

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