Software Dev Engineer - Software Dev Engineer IV Job at Apex Systems (Boston)

Job Description

A position is available for a Simulation Modeling Engineer to build physics-based simulation environments. The successful candidate will create, import, and maintain 3D models of robotic workcells. This involves converting CAD designs into simulation-ready assets that facilitate robot motion planning, controls development, and system validation before the existence of physical hardware. The role involves working with mechanical engineers, controls teams, and simulation developers to translate hardware designs into digital twins and independently managing asset delivery.

Job Responsibility

Convert SolidWorks/CAD assemblies into simulation-ready formats (SDF, URDF, glTF, VTK) with accurate kinematics, collision geometry, inertia properties, and visual materials
Build and maintain robotic workcell configurations, including robot arms, rails, sensors, end-effectors, pods, conveyors, and environmental structures
Create and optimize collision meshes using tetrahedral meshing workflows for accurate physics contact simulation
Configure simulated cameras, depth sensors, and other perception hardware with accurate field-of-view parameters
Build model integrity tests, verify FK/IK accuracy against real hardware, and maintain asset quality standards
Independently manage asset import and update requests from robotics program teams
Import new robot prototype stations from SolidWorks CAD into the simulator
Tune simulation assets to balance detail versus execution speed of simulation
Convert OBJ collision meshes to VTK tetrahedral format to improve physics contact accuracy
Build a model validation script that checks inertia values, texture transparency, and mesh integrity at build time

Requirements

5+ years of professional software development experience
1+ year working with 3D modeling tools such as Blender, SolidWorks, or Maya
Experience with robotics simulation formats like URDF, SDF, or MJCF
Familiarity with mesh processing, including decimation, convex decomposition, tetrahedral meshing, and collision geometry generation
Understanding of rigid body kinematics (joint types, coordinate frames, forward/inverse kinematics)
Proficiency in Python for scripting asset pipelines and automation
1+ year of cumulative experience with game engines (Unreal, Unity), physics engines (Drake, MuJoCo, Bullet, PhysX), or robotics simulation platforms (Gazebo, Isaac Sim)
Demonstrated ability to independently own and deliver technical work

Nice to have

Experience with USD (Universal Scene Description) model format
Familiarity with PBR materials, glTF format, and real-time rendering pipelines
Experience with C++
Web 3D visualization (Three.js, WebGL)
Understanding of simulation contact models and deformable body simulation
Experience converting CAD (SolidWorks, STEP, IGES) to simulation-ready assets
Familiarity with camera simulation, including intrinsics, distortion models, and synthetic data generation

What we offer

Medical
Dental
Vision
Life
Disability
Other insurance plans
ESPP (employee stock purchase program)
401K program with company match after 12 months
HSA (Health Savings Account on the HDHP plan)
SupportLinc Employee Assistance Program (EAP) with up to 8 free counseling sessions
Corporate discount savings program
Other discounts
On-demand training program
Access to certification prep and library of technical and leadership courses/books/seminars after 6+ months tenure
Certification discounts
Association perks (CompTIA, IIBA)
Career Coach

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Software Dev Engineer - Software Dev Engineer IV

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