diff --git a/CMakeLists.txt b/CMakeLists.txt
index 484f86430c..a2d47b2158 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -51,7 +51,6 @@ else ()
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -std=c++1y -DFRC_SIMULATOR -Wno-unused-parameter -pthread -fPIC -fpermissive")
 endif()
 
-
 include_directories("build")
 add_subdirectory(simulation/gz_msgs)
 add_subdirectory(wpilibc/simulation)
diff --git a/build.gradle b/build.gradle
index d399ffd902..acf7a3a5db 100644
--- a/build.gradle
+++ b/build.gradle
@@ -7,6 +7,8 @@ if (!hasProperty('repo')) {
 def repoBaseUrl = "http://first.wpi.edu/FRC/roborio/maven/${repo}"
 def publishUrl = "${System.getProperty('user.home')}/releases/maven/${repo}"
 
+ext.simulationInstallDir = "$rootDir/build/install/simulation"
+
 allprojects {
     ext.enableSimulation = enableSimulation
     ext.repo = repo
@@ -43,4 +45,4 @@ subprojects {
     }
 }
 
-apply from: 'cppSettings.gradle'
\ No newline at end of file
+apply from: 'cppSettings.gradle'
diff --git a/settings.gradle b/settings.gradle
index 9a43e3c29b..9c570c463a 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -2,6 +2,10 @@ include 'hal',
         'wpilibc',
         'wpilibcIntegrationTests',
         'wpilibj',
-        'wpilibjIntegrationTests',
+        'wpilibjIntegrationTests'
+
+if (hasProperty("makeSim")){
+include 'simulation',
         'simulation:JavaGazebo',
         'simulation:SimDS'
+}
diff --git a/simulation/SimDS/build.gradle b/simulation/SimDS/build.gradle
index 7d44b8e1b6..58270b7f21 100644
--- a/simulation/SimDS/build.gradle
+++ b/simulation/SimDS/build.gradle
@@ -53,4 +53,12 @@ task simDsJavadoc(type: Jar, dependsOn: javadoc) {
     from javadoc.destinationDir
 }
 
+//we need to move the simulation jars to the install directory
+task copyJars(type: Copy) {
+    description = 'copy SimDS-all.jar to make simulation zip'
+    group = 'WPILib Simulation'
+    from shadowJar.archivePath
+    into "$simulationInstallDir/jar"
+}
+
 build.dependsOn shadowJar
diff --git a/simulation/build.gradle b/simulation/build.gradle
new file mode 100644
index 0000000000..1698f19911
--- /dev/null
+++ b/simulation/build.gradle
@@ -0,0 +1,35 @@
+apply plugin: 'java'
+apply plugin: 'maven-publish'
+
+publishing {
+    publications {
+        simulation(MavenPublication) {
+            artifact zip
+            groupId 'simulation'
+            artifactId 'simulation'
+            version '1.0.0'
+        }
+    }
+
+    setupWpilibRepo(it)
+}
+
+task copy_resources(type: Copy) {
+    description = 'copy gz_msgs and install_resources to make simulation zip'
+    group = 'WPILib Simulation'
+    into ('gz_msgs') {
+        from 'gz_msgs'
+    }
+    into "$simulationInstallDir"
+    from 'install_resources'
+}
+
+task zip(type: Zip, dependsOn: [copy_resources,
+        ':wpilibc:wpilibcSimCopy',
+        ':simulation:SimDS:copyJars',
+        ':wpilibj:copyJars']) {
+    description = 'zip of all the resources for simulation'
+    group = 'WPILib Simulation'
+    baseName = 'simulation-trusty'
+    from "$simulationInstallDir"
+}
diff --git a/simulation/frc_gazebo_plugins/CMakeLists.txt b/simulation/frc_gazebo_plugins/CMakeLists.txt
index 6c662c3bff..e3574dddca 100644
--- a/simulation/frc_gazebo_plugins/CMakeLists.txt
+++ b/simulation/frc_gazebo_plugins/CMakeLists.txt
@@ -12,8 +12,6 @@ set (PLUGINS
 	rangefinder
 	servo)
 
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/plugins)
-
 link_directories(${GAZEBO_LIBRARY_DIRS})
 
 foreach(PLUGIN ${PLUGINS})
@@ -29,8 +27,9 @@ foreach(PLUGIN ${PLUGINS})
 	endif()
 
 	target_link_libraries(${PLUGIN} gz_msgs ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})
-
-  install(TARGETS ${PLUGIN} DESTINATION $ENV{HOME}/wpilib/simulation/plugins)
+  set_target_properties(${PLUGIN}
+    PROPERTIES
+    LIBRARY_OUTPUT_DIRECTORY ${SIMULATION_INSTALL_DIR}/plugins)
 
 endforeach()
 
diff --git a/simulation/frcsim_installer.sh b/simulation/frcsim_installer.sh
new file mode 100755
index 0000000000..be3d4a5712
--- /dev/null
+++ b/simulation/frcsim_installer.sh
@@ -0,0 +1,224 @@
+#!/bin/bash
+
+function check-environment {
+  # Ensure root access
+  if [ "$(id -u)" != "0" ]; then
+    echo "*** This script must be run as root!" 1>&2
+    echo "*** Make sure that you followed the instructions properly." 1>&2
+    install-fail
+  fi
+
+  # Make sure that we're on Ubuntu.
+  if [ "$(lsb_release -is)" != "Ubuntu" ]; then
+    if [ "$(lsb_release -is)" = "" ]; then
+      echo "*** Distributions other than Ubuntu (such as yours, probably) are not supported." 1>&2
+    else
+      echo "*** Distributions other than Ubuntu (such as $(lsb_release -is)) are not supported." 1>&2
+    fi
+    echo "*** This means that the install will likely fail." 1>&2
+    echo "*** Continue anyway? (y/n)" 1>&2
+    read CONT
+    if [ "$CONT" != "y" -a "$CONT" != "Y" ]; then
+      install-fail
+    fi
+  fi
+
+  # Make sure that we have /etc/apt/sources.list.d available.
+  if [ ! -e /etc/apt/sources.list.d ]; then
+    echo "*** Cannot find /etc/apt/sources.list.d - is apt installed?"
+    install-fail
+  fi
+
+  # Make sure that apt-key is installed.
+  if ! which apt-key >/dev/null; then
+    echo "*** You don't appear to have apt-key installed." 1>&2
+    echo "*** Please install apt and run the script again." 1>&2
+    install-fail
+  fi
+
+  # Make sure that apt-get is installed.
+  if ! which apt-get >/dev/null; then
+    echo "*** You don't appear to have apt-get installed." 1>&2
+    echo "*** Please install apt and run the script again." 1>&2
+    install-fail
+  fi
+
+  # Make sure that we have internet access.
+  if ! ping 8.8.8.8 -c 1 >/dev/null; then
+    echo "*** You don't appear to be able to access the internet! (Can't ping 8.8.8.8)" 1>&2
+    install-fail
+  fi
+
+  # Make sure that wget is installed.
+  if ! which wget >/dev/null; then
+    echo "*** You don't appear to have wget installed." 1>&2
+    echo "*** Install? (y/n)" 1>&2
+    read CONT
+    if [ "$CONT" != "y" -a "$CONT" != "Y" ]; then
+      install-fail
+    fi
+    apt-get install wget -y
+  fi
+
+  # Make sure that python is installed
+  if ! which python >/dev/null; then
+    echo "*** You don't appear to have python installed." 1>&2
+    echo "*** Install? (y/n)" 1>&2
+    read CONT
+    if [ "$CONT" != "y" -a "$CONT" != "Y" ]; then
+      install-fail
+    fi
+    apt-get install python -y
+  fi
+
+  # Make sure that unzip is installed
+  if ! which unzip >/dev/null; then
+    echo "*** You don't appear to have unzip installed." 1>&2
+    echo "*** Install? (y/n)" 1>&2
+    read CONT
+    if [ "$CONT" != "y" -a "$CONT" != "Y" ]; then
+      install-fail
+    fi
+    apt-get install unzip -y
+  fi
+}
+
+function remove-frcsim {
+  check-environment
+
+  echo "*** Remove Gazebo package entry too? (y/n)" 1>&2
+  read CONT
+  if [ "$CONT" == "y" -o "$CONT" == "Y" ]; then
+  rm -f /etc/apt/sources.list.d/gazebo-latest.list
+  fi
+
+  apt-get update
+  apt-get remove --auto-remove gazebo6 g++-4.9 openjdk-8-jdk
+  rm -rf /opt/eclipse
+  rm -f /usr/share/applications/frcsim.desktop /usr/share/applications/eclipse.desktop /usr/share/applications/sim_ds.desktop
+  rm -f /usr/bin/frcism /usr/bin/sim_ds /usr/bin/eclipse
+  rm -rf ~/wpilib/simulation
+}
+
+function install-eclipse-plugins {
+  if ! (wget -O /tmp/simulation.zip http://first.wpi.edu/FRC/roborio/maven/development/simulation/simulation/1.0.0/simulation-1.0.0.zip)
+  then
+    echo "***could not download wpilib simulation plugins, wrong URL probably***"
+    install-fail
+  fi
+
+  mkdir -p ~/wpilib/simulation
+  unzip /tmp/simulation.zip -d ~/wpilib/simulation
+  ln -fs ~/wpilib/simulation/frcsim /usr/bin/frcsim
+  ln -fs ~/wpilib/simulation/sim_ds /usr/bin/sim_ds
+}
+
+function install-eclipse {
+  if ! (wget -O /tmp/eclipse.tar.gz http://eclipse.mirror.rafal.ca/technology/epp/downloads/release/mars/1/eclipse-cpp-mars-1-linux-gtk-x86_64.tar.gz)
+  then
+    echo "***could not download eclipse, wrong URL probably***"
+    install-fail
+  fi
+
+  tar -xf /tmp/eclipse.tar.gz -C /opt
+  ln -s /opt/eclipse/eclipse /usr/bin/eclipse
+}
+
+function install-desktops {
+  mv ~/wpilib/simulation/eclipse.desktop /usr/share/applications/eclipse.desktop
+  mv ~/wpilib/simulation/frcsim.desktop /usr/share/applications/frcsim.desktop
+  mv ~/wpilib/simulation/sim_ds.desktop /usr/share/applications/sim_ds.desktop
+}
+
+function install-gz_msgs {
+  cd ~/wpilib/simulation/gz_msgs
+  mkdir build
+  cd build
+  cmake ..
+  make
+  make install
+}
+
+function install-toolchain {
+  add-apt-repository ppa:openjdk-r/ppa -y
+  add-apt-repository ppa:ubuntu-toolchain-r/test -y
+  apt-get update
+  apt-get install libprotoc-dev libprotobuf-dev protobuf-compiler g++-4.9 openjdk-8-jdk -y
+  ln -fs /usr/bin/g++-4.9 /usr/bin/g++
+}
+
+function install-models {
+  if ! (wget -O /tmp/models.zip https://usfirst.collab.net/sf/frs/do/downloadFile/projects.wpilib/frs.simulation.frcsim_gazebo_models/frs1160?)
+  then
+    echo "*** failed to download models. Check your internet connection! ***"
+    install-fail
+  fi
+
+  unzip /tmp/models.zip -d ~/wpilib/simulation
+}
+
+function install-frcsim {
+  check-environment
+
+  # Add Gazebo Repository and Key
+  if ! echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-latest.list
+  then
+    echo "*** Cannot add Gazebo repository!" 1>&2
+    install-fail
+  fi
+  if ! (wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -)
+  then
+    echo "*** Cannot add Gazebo repository key!" 1>&2
+    if ! ping packages.osrfoundation.org -c 1 >/dev/null; then
+      echo "*** The package host for Gazebo appears to be down. Try again later." 1>&2
+    fi
+    install-fail
+  fi
+
+  # Update and install dependencies
+  if ! apt-get update
+  then
+    echo "*** Could not resynchronize package index files." 1>&2
+    echo "*** Are you running another update or install?" 1>&2
+    install-fail
+  fi
+  if ! apt-get install -y gazebo6
+  then
+    echo "*** Could not install frcsim packages. See above output for details." 1>&2
+    echo "*** Are you running another update or install?" 1>&2
+    install-fail
+  fi
+
+  install-eclipse-plugins
+  install-toolchain
+  install-gz_msgs
+  install-eclipse
+  install-desktops
+  install-models
+
+  # Done
+  echo "Installation Finished!!"
+}
+
+if [ "$1" == "ROOT" ]
+then
+  install-frcsim
+elif [ "$1" == "INSTALLER" ]
+then
+  SUDO_ASKPASS=/usr/bin/ssh-askpass sudo bash -c "$0 ROOT"
+elif [ "$1" == "REMOVE-ROOT" ]
+then
+  remove-frcsim
+elif [ "$1" == "REMOVE" ]
+then
+  SUDO_ASKPASS=/usr/bin/ssh-askpass sudo bash -c "$0 REMOVE-ROOT"
+else
+  if [ -z "$1" ]
+  then
+    echo "***This script requires an argument!***"
+    echo "***Run ./frcsim_installer.sh INSTALLER to install***"
+    echo "***Other options are REMOVE, or any of the functions in the script"
+  else
+    $@
+  fi
+fi
diff --git a/simulation/gz_msgs/CMakeLists.txt b/simulation/gz_msgs/CMakeLists.txt
index 31c7dbaa5c..5ca638686e 100644
--- a/simulation/gz_msgs/CMakeLists.txt
+++ b/simulation/gz_msgs/CMakeLists.txt
@@ -62,4 +62,10 @@ else()
 endif()
 
 target_link_libraries(${PROJECT_NAME} ${PROTOBUF_LIBRARIES})
-set_target_properties(${PROJECT_NAME} PROPERTIES INSTALL_RPATH "${ENV_HOME}/wpilib/simulation/lib")
+set_target_properties(${PROJECT_NAME}
+  PROPERTIES
+  INSTALL_RPATH "${ENV_HOME}/wpilib/simulation/lib"
+  LIBRARY_OUTPUT_DIRECTORY ${SIMULATION_INSTALL_DIR}/lib)
+
+file(COPY "${GZ_MSGS_INCLUDE_DIR}/simulation"
+  DESTINATION "${CMAKE_BINARY_DIR}/install/simulation/include")
diff --git a/simulation/install_resources/eclipse.desktop b/simulation/install_resources/eclipse.desktop
new file mode 100644
index 0000000000..c6d8a8633a
--- /dev/null
+++ b/simulation/install_resources/eclipse.desktop
@@ -0,0 +1,7 @@
+[Desktop Entry]
+Name=Eclipse
+Exec=/usr/bin/eclipse
+Icon=/opt/eclipse/icon.xpm
+Type=Application
+Categories=Development;Education;Science;
+StartupNotify=true
diff --git a/simulation/frcsim b/simulation/install_resources/frcsim
similarity index 100%
rename from simulation/frcsim
rename to simulation/install_resources/frcsim
diff --git a/simulation/install_resources/frcsim.desktop b/simulation/install_resources/frcsim.desktop
new file mode 100644
index 0000000000..6434d9ce81
--- /dev/null
+++ b/simulation/install_resources/frcsim.desktop
@@ -0,0 +1,9 @@
+[Desktop Entry]
+Name=FRCSim
+Keywords=frcsim,gazebo
+Exec=/usr/bin/frcsim
+Icon=gazebo
+Type=Application
+StartupNotify=true
+Terminal=false
+Categories=Development;IDE;Java;Education;Science
diff --git a/simulation/install_resources/lib/libjinput-linux.so b/simulation/install_resources/lib/libjinput-linux.so
new file mode 100755
index 0000000000..dba9e59fad
Binary files /dev/null and b/simulation/install_resources/lib/libjinput-linux.so differ
diff --git a/simulation/install_resources/lib/libjinput-linux64.so b/simulation/install_resources/lib/libjinput-linux64.so
new file mode 100755
index 0000000000..8b5f9d84f4
Binary files /dev/null and b/simulation/install_resources/lib/libjinput-linux64.so differ
diff --git a/simulation/sim_ds b/simulation/install_resources/sim_ds
similarity index 100%
rename from simulation/sim_ds
rename to simulation/install_resources/sim_ds
diff --git a/simulation/install_resources/sim_ds.desktop b/simulation/install_resources/sim_ds.desktop
new file mode 100644
index 0000000000..34b6a177ac
--- /dev/null
+++ b/simulation/install_resources/sim_ds.desktop
@@ -0,0 +1,9 @@
+[Desktop Entry]
+Name=Sim DS
+Keywords=frcsim,driverstation
+Exec=/usr/bin/sim_ds
+Icon=~/wpilib/simulation/sim_ds_logo.png
+Type=Application
+StartupNotify=true
+Terminal=false
+Categories=Development;IDE;Java;Education;Science
diff --git a/simulation/install_resources/sim_ds_logo.png b/simulation/install_resources/sim_ds_logo.png
new file mode 100644
index 0000000000..39df91cee3
Binary files /dev/null and b/simulation/install_resources/sim_ds_logo.png differ
diff --git a/wpilibc/build.gradle b/wpilibc/build.gradle
index 959aaefe68..663e0ade22 100644
--- a/wpilibc/build.gradle
+++ b/wpilibc/build.gradle
@@ -22,4 +22,8 @@ ext.checkDoxygen = {
 }
 
 apply from: 'athena.gradle'
-apply from: 'simulation.gradle'
+
+if (hasProperty('makeSim')){
+    apply from: 'simulation.gradle'
+}
+
diff --git a/wpilibc/simulation.gradle b/wpilibc/simulation.gradle
index d8bd9b341c..ec70276883 100644
--- a/wpilibc/simulation.gradle
+++ b/wpilibc/simulation.gradle
@@ -1,33 +1,46 @@
 import org.apache.tools.ant.taskdefs.condition.Os
 
-if (project.hasProperty('makeSim')){
   //cmake wrapper tasks
-  task setupCmake(type: Exec) {
+task setupCmake(type: Exec) {
+    description = 'create build directory for cmake to use'
+    group = 'WPILib Simulation'
     workingDir '..'
     commandLine 'mkdir', '-p', 'build'
-  }
+}
 
-  task cmake(type: Exec, dependsOn: setupCmake) {
+task cmake(type: Exec, dependsOn: setupCmake) {
+    description = 'run cmake in the build directory to generate makefiles'
+    group = 'WPILib Simulation'
     workingDir '../build'
     if (Os.isFamily(Os.FAMILY_WINDOWS)) {
-      commandLine '../configure.bat', "-DNTCORE_INCLUDE_DIR=$netTablesInclude","-DNTCORE_LIBDIR=$netLibDesktopLocation"
+        commandLine '../configure.bat',
+            "-DNTCORE_INCLUDE_DIR=$netTablesInclude",
+            "-DNTCORE_LIBDIR=$netLibDesktopLocation",
+            "-DSIMULATION_INSTALL_DIR=$simulationInstallDir"
     }
     else {
-      commandLine 'cmake', '..', "-DNTCORE_INCLUDE_DIR=$netTablesInclude","-DNTCORE_LIBDIR=$netLibDesktopLocation"
+        commandLine 'cmake', '..',
+            "-DNTCORE_INCLUDE_DIR=$netTablesInclude",
+            "-DNTCORE_LIBDIR=$netLibDesktopLocation",
+            "-DSIMULATION_INSTALL_DIR=$simulationInstallDir"
     }
-  }
+}
 
-  task frc_gazebo_plugins(type: Exec, dependsOn: cmake) {
+task frc_gazebo_plugins(type: Exec, dependsOn: cmake) {
+    description = 'build Gazebo plugins with cmake'
+    group = 'WPILib Simulation'
     workingDir '../build'
     if (Os.isFamily(Os.FAMILY_WINDOWS)) {
-      comanndLine 'nmake', 'frc_gazebo_plugins'
+        commandLine 'nmake', 'frc_gazebo_plugins'
     }
     else {
-      commandLine 'make', 'frc_gazebo_plugins'
+        commandLine 'make', 'frc_gazebo_plugins'
     }
-  }
+}
 
-  task gz_msgs(type: Exec, dependsOn: cmake) {
+task gz_msgs(type: Exec, dependsOn: cmake) {
+    description = 'build gz_msgs library with cmake'
+    group = 'WPILib Simulation'
       workingDir '../build'
       if (Os.isFamily(Os.FAMILY_WINDOWS)) {
           commandLine 'nmake', 'gz_msgs'
@@ -35,20 +48,49 @@ if (project.hasProperty('makeSim')){
       else {
           commandLine 'make', 'gz_msgs'
       }
-  }
+}
 
-  task wpilibcSim(type: Exec, dependsOn: ['cmake', ':unzipNetworkTables']) {
+task wpilibcSim(type: Exec, dependsOn: ['cmake', ':unzipNetworkTables']) {
+    description = 'build WPILib C++ for simulation with cmake'
+    group = 'WPILib Simulation'
     workingDir '../build'
     if (Os.isFamily(Os.FAMILY_WINDOWS)) {
-      commandLine 'nmake', 'wpilibcSim'
+        commandLine 'nmake', 'wpilibcSim'
     }
     else {
-      commandLine 'make', 'wpilibcSim'
+        commandLine 'make', 'wpilibcSim'
     }
-  }
-
-  task allcsim(dependsOn: [wpilibcSim, gz_msgs, frc_gazebo_plugins]){
-  }
-
-  build.dependsOn allcsim
 }
+
+task allcsim(dependsOn: [wpilibcSim, gz_msgs, frc_gazebo_plugins]){
+    description = 'wrapper task to build all c++ simulation tasks'
+    group = 'WPILib Simulation'
+}
+
+task wpilibcSimCopy(type: Copy) {
+    description = 'copy headers and ntcore library to make simulation zip'
+    group = 'WPILib Simulation'
+    into "$simulationInstallDir"
+
+    from ("$netTablesInclude"){
+        into "include"
+    }
+
+    from ("../hal/include"){
+        into "include"
+    }
+
+    from ("simulation/include"){
+        into "include"
+    }
+
+    from ("shared/include"){
+        into "include"
+    }
+
+    from ("$netLibDesktopLocation/libntcore.so") {
+        into "lib"
+    }
+}
+
+build.dependsOn allcsim
diff --git a/wpilibc/simulation/CMakeLists.txt b/wpilibc/simulation/CMakeLists.txt
index 09c92330fc..769d7e284a 100644
--- a/wpilibc/simulation/CMakeLists.txt
+++ b/wpilibc/simulation/CMakeLists.txt
@@ -15,7 +15,6 @@ set (INCLUDE_FOLDERS include
   ${Boost_INCLUDE_DIR}
   ${GAZEBO_INCLUDE_DIRS})
 
-
 include_directories(${INCLUDE_FOLDERS})
 
 link_directories(${NTCORE_LIBDIR})
@@ -23,3 +22,7 @@ link_directories(${NTCORE_LIBDIR})
 add_library(${PROJECT_NAME} SHARED ${SRC_FILES} ${COM_SRC_FILES})
 
 target_link_libraries(${PROJECT_NAME} gz_msgs ntcore)
+
+set_target_properties(${PROJECT_NAME}
+  PROPERTIES
+  LIBRARY_OUTPUT_DIRECTORY ${SIMULATION_INSTALL_DIR}/lib)
diff --git a/wpilibj/simulation.gradle b/wpilibj/simulation.gradle
index 543e866510..1bec695812 100644
--- a/wpilibj/simulation.gradle
+++ b/wpilibj/simulation.gradle
@@ -10,7 +10,8 @@ dependencies {
 }
 
 task wpilibjSimJar(type: Jar, dependsOn: simClasses) {
-
+    description = 'Creates the WPILibJSimulation Jar'
+    group = 'WPILib Simulation'
     def addClasspath = { classpath ->
         classpath.files.findAll { it.exists() }.each {
             if (file(it).directory) {
@@ -24,8 +25,6 @@ task wpilibjSimJar(type: Jar, dependsOn: simClasses) {
     addClasspath sourceSets.shared.runtimeClasspath
     addClasspath sourceSets.sim.runtimeClasspath
 
-    description = 'Creates the WPILibJSimulation Jar'
-    group = 'WPILib'
     from sourceSets.sim.output.classesDir
     from sourceSets.shared.output.classesDir
     baseName 'wpilibjSimulation'
@@ -72,4 +71,12 @@ publishing {
     }
 }
 
+//we need to move the simulation jars to the install directory
+task copyJars(type: Copy) {
+    description = 'copy wpilibj simulation jar to make simulation zip'
+    group = 'WPILib Simulation'
+    from wpilibjSimJar.archivePath
+    into "$simulationInstallDir/jar"
+}
+
 build.dependsOn wpilibjSimJar