Restructured installation instructions

Author: TimSchneider42

README.md

@@ -178,37 +178,7 @@ pip install numpy
 pip install --no-index --find-links=./dist franky-control
 ```
 
-Franky is based on [libfranka](https://github.com/frankaemika/libfranka), [Eigen](https://eigen.tuxfamily.org) for
-transformation calculations and [pybind11](https://github.com/pybind/pybind11) for the Python bindings.
-As the Franka is sensitive to acceleration discontinuities, it requires jerk-constrained motion generation, for which
-Franky uses the [Ruckig](https://ruckig.com) community version for Online Trajectory Generation (OTG).
-
-After installing the dependencies (the exact versions can be found [here](#-development)), you can build and install
-Franky via
-
-```bash
-git clone --recurse-submodules git@github.com:timschneider42/franky.git
-cd franky
-mkdir -p build
-cd build
-cmake -DCMAKE_BUILD_TYPE=Release ..
-make
-make install
-```
-
-To use Franky, you can also include it as a subproject in your parent CMake via `add_subdirectory(franky)` and then
-`target_link_libraries(<target> franky)`.
-
-If you need only the Python module, you can install Franky via
-
-```bash
-pip install .
-```
-
-Make sure that the built library `_franky.cpython-3**-****-linux-gnu.so` is in the Python path, e.g. by adjusting
-`PYTHONPATH` accordingly.
-
-#### Using Docker
+### Using Docker
 
 To use Franky within Docker we provide a [Dockerfile](docker/run/Dockerfile) and
 accompanying [docker-compose](docker-compose.yml) file.
@@ -234,16 +204,6 @@ docker compose run franky-run bash
 The container requires access to the host machines network *and* elevated user rights to allow the docker user to set RT
 capabilities of the processes run from within it.
 
-#### Building Franky with Docker
-
-For building Franky and its wheels, we provide another Docker container that can also be launched using docker-compose:
-
-```bash
-docker compose build franky-build
-docker compose run --rm franky-build run-tests  # To run the tests
-docker compose run --rm franky-build build-wheels  # To build wheels for all supported python versions
-```
-
 ### Can I use CUDA jointly with Franky?
 
 Yes. However, you need to set `IGNORE_PREEMPT_RT_PRESENCE=1` during the installation and all subsequent updates of the CUDA drivers on the real-time kernel.
@@ -270,6 +230,48 @@ Alternatively, if you are a cowboy and do not care about security, you can also
 bash <(wget -qO- https://raw.githubusercontent.com/timschneider42/franky/master/tools/install_cuda_realtime.bash)
 ```
 
+### Building Franky
+
+Franky is based on [libfranka](https://github.com/frankaemika/libfranka), [Eigen](https://eigen.tuxfamily.org) for
+transformation calculations and [pybind11](https://github.com/pybind/pybind11) for the Python bindings.
+As the Franka is sensitive to acceleration discontinuities, it requires jerk-constrained motion generation, for which
+Franky uses the [Ruckig](https://ruckig.com) community version for Online Trajectory Generation (OTG).
+
+After installing the dependencies (the exact versions can be found [here](#-development)), you can build and install
+Franky via
+
+```bash
+git clone --recurse-submodules git@github.com:timschneider42/franky.git
+cd franky
+mkdir -p build
+cd build
+cmake -DCMAKE_BUILD_TYPE=Release ..
+make
+make install
+```
+
+To use Franky, you can also include it as a subproject in your parent CMake via `add_subdirectory(franky)` and then
+`target_link_libraries(<target> franky)`.
+
+If you need only the Python module, you can install Franky via
+
+```bash
+pip install .
+```
+
+Make sure that the built library `_franky.cpython-3**-****-linux-gnu.so` is in the Python path, e.g. by adjusting
+`PYTHONPATH` accordingly.
+
+#### Building Franky with Docker
+
+For building Franky and its wheels, we provide another Docker container that can also be launched using docker-compose:
+
+```bash
+docker compose build franky-build
+docker compose run --rm franky-build run-tests  # To run the tests
+docker compose run --rm franky-build build-wheels  # To build wheels for all supported python versions
+```
+
 ## 📚 Tutorial
 
 Franky comes with both a C++ and Python API that differ only regarding real-time capability.