content: # Use micromamba as the base image
  FROM mambaorg/micromamba:1.5.6
  
  # Load micromamba automatically in bash sessions
  ENV BASH_ENV=~/.bashrc
  SHELL ["/bin/bash", "-c"]
  
  # Conditionally create a micromamba environment for YARP
  RUN micromamba create -n zeromq_yarp_ros2 -c robostack-staging -c conda-forge ros-humble-desktop -y && \
      micromamba run -n zeromq_yarp_ros2 micromamba install -y yarp -c robotology -c conda-forge && \
      micromamba run -n zeromq_yarp_ros2 pip install wrapyfi[headless]==0.4.32 && \
      micromamba clean --all --yes
  
  
  ENV ENV_NAME=zeromq_yarp_ros2
  CMD ["bash"]
  
  ############################################ BUILD ############################################
  # docker build --rm=true --no-cache -f wrapyfi_zeromq-yarp-ros2.Dockerfile -t wrapyfi-zeromq-yarp-ros2 .
  
  ############################################  RUN  ############################################
  # docker run --name wrapyfi_zeromq_yarp_ros2 --net host --rm -dit wrapyfi-zeromq-yarp-ros2 yarpserver  # starts yarpserver. Remove -d to see output
  # docker exec -e ENV_NAME=zeromq_yarp_ros2 -it wrapyfi_zeromq_yarp_ros2 bash  # starts bash in the container
  
  ###########################################   STOP  ###########################################
  # docker stop $(docker ps -q --filter ancestor=wrapyfi-zeromq-yarp-ros2 )  # stops all containers based on this image