Update README.md with install guide

Author: ReeceHumphreys

README.md

@@ -1,32 +1,56 @@
 # README
 
-### Basilisk
+## Basilisk
 
 * [Summary of Basilisk](docs/source/index.rst)
 * [Release Notes](docs/source/Support/bskReleaseNotes.rst)
 
-### How do I get set up?
-The following links contain installation instructions for the supported platforms:
+### Installation
 
-- [Setup a macOS Development Environment](docs/source/Install/installOnMacOS.rst)
+Basilisk can be installed in two ways, either from PyPI or by building from
+source.
 
-- [Setup a Linux Development Environment](docs/source/Install/installOnLinux.rst)
+For most users, installing from PyPI is the easiest and fastest way to get
+started. Building from source is recommended if you need to link to external
+C++ modules or want to customize the build configuration.
 
-- [Setup a Windows Development Environment](docs/source/Install/installOnWindows.rst)
+#### Install from PyPI
 
+The easiest way to get started with Basilisk is to install the prebuilt wheel
+from [PyPI](https://pypi.org/project/bsk/):
 
+```bash
+pip install bsk
+```
+
+This installs the latest stable version with all standard features
+(e.g. optical navigation and MuJoCo). See the [install](docs/source/Install.rst)
+docs for supported platforms and additional details about the wheels.
+
+#### Build from Source
+
+If you need to use external C++ modules or want to customize the build, follow
+the platform-specific setup instructions:
+
+* [Setup a macOS Development Environment](docs/source/Build/installOnMacOS.rst)
+
+* [Setup a Linux Development Environment](docs/source/Build/installOnLinux.rst)
+
+* [Setup a Windows Development Environment](docs/source/Build/installOnWindows.rst)
+
+See the [Build from Source docs](docs/source/Build.rst) for full details.
 
 ### Basilisk Development guidelines
 
 * [Contributing](CONTRIBUTING.md)
 * [Coding Guidelines](docs/source/Support/Developer/CodingGuidlines.rst)
 
-
 ### Getting Started
+
 To get started with Basilisk (BSK), several tutorial python files are provided in the installed package.  Within this
-web page documentation site, they are listed and discussed in the [integrated example script](docs/source/examples/index.rst)
-page.  The
-documentation lists the scenarios in an order that facilitates learning basic BSK features. The python scripts
+web page documentation site, they are listed and discussed in the [integrated example script](docs/source/examples/index.rst) page.
+
+The documentation lists the scenarios in an order that facilitates learning basic BSK features. The python scripts
 are stored under `basilisk/examples`. A good start would be to run `scenarioBasicOrbit.py`.
 
 To play with the tutorials, it is suggested the user makes a copy of these tutorial files, and use the copies in order
@@ -45,7 +69,6 @@ for more information.
 To use the standalone 3D Visualization, download the [Vizard](docs/source/Vizard/VizardDownload.rst).
 This is in development, but does provide a 3D view of many of the simulation states.
 
-
 ### Who do I talk to?
 
 Questions and answers are fielded in the project's [Github Discussions](https://github.com/AVSLab/basilisk/discussions).