diff --git a/Dockerfile b/Dockerfile
index ceea97b..b97a470 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,32 +1,11 @@
-FROM ubuntu:24.04
+FROM mambaorg/micromamba:2.3.2
 
-RUN apt-get update && \
-    apt-get install -qqy lsb-release curl
+COPY --chown=$MAMBA_USER:$MAMBA_USER environment.yaml /tmp/env.yaml
+RUN micromamba install -y -n base -f /tmp/env.yaml && \
+    micromamba clean --all --yes
 
-RUN mkdir -p /etc/apt/keyrings && \
-    curl http://robotpkg.openrobots.org/packages/debian/robotpkg.asc \
-    | tee /etc/apt/keyrings/robotpkg.asc
+ARG MAMBA_DOCKERFILE_ACTIVATE=1
 
-RUN echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" \
-    | tee /etc/apt/sources.list.d/robotpkg.list
-
-RUN apt-get update && \
-    apt-get install -qqy \
-      robotpkg-py3*-pinocchio \
-      libcppad-dev \
-      libeigen3-dev \
-      libcgal-dev \
-      git \
-      cmake \
-      ninja-build \
-      nlohmann-json3-dev \
-      build-essential \
-      libfmt-dev
-
-ENV PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH
-ENV LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH
-ENV CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH
 COPY . cricket/
-RUN cmake -GNinja -Bbuild cricket && cmake --build build
-
-ENTRYPOINT ["/build/fkcc_gen"]
+RUN cmake -GNinja -Bbuild -DCPM_SOURCE_CACHE=.cpm_cache cricket && cmake --build build
+ENTRYPOINT ["/usr/local/bin/_entrypoint.sh", "/tmp/build/fkcc_gen"]
diff --git a/README.md b/README.md
index 9b7df56..80cbba5 100644
--- a/README.md
+++ b/README.md
@@ -41,11 +41,12 @@ docker build . -t cricket
 
 Run the script:
 ```bash
-docker run --rm -v "$(pwd):/workspace" -w /workspace --user "$(id -u):$(id -g)" cricket:latest resources/panda.json
+docker run --rm -v "$(pwd):/mount" --user "$(id -u):$(id -g)" cricket:latest /mount/resources/panda.json -t /mount/panda.hh
 
 # Optionally format the code
 clang-format -i panda_fk.hh
 ```
+Note the use of the `/mount` directory and specification of output file.
 
 ## Configuration