fix: installing vnc by default to everyone

README.md

@@ -1,6 +1,6 @@
 # Lucy ROS 2 workspace (Humble)
 
-Workspace bringup for the Lucy / InMoov humanoid. Everything (ROS 2 Humble, Gazebo, RViz, the web control panel) runs inside a single Docker container — you only need **Docker**, **Git** and **Python 3** on the host (plus **`xhost`** on Linux for GUI forwarding; on macOS the GUI is viewed over VNC with no extra software — see [GUI: RViz and Gazebo](#gui-rviz-and-gazebo)).
+Workspace bringup for the Lucy / InMoov humanoid. Everything (ROS 2 Humble, Gazebo, RViz, the web control panel) runs inside a single Docker container — you only need **Docker**, **Git** and **Python 3** on the host. GUI apps (RViz, Gazebo) render on a VNC desktop you view from your browser, with no extra software (see [GUI: RViz and Gazebo](#gui-rviz-and-gazebo)).
 
 ## Requirements
 
@@ -109,22 +109,22 @@ This setting is stored in a `.env` file.
 
 RViz, Gazebo and rqt are native OpenGL apps. The container can show them two ways:
 
-- **Native X11** — Linux/amd64 hosts with a working GPU. Needs `xhost` on the host for display forwarding.
-- **VNC virtual desktop** — a self-contained desktop inside the container: `Xvfb` rendered by
-  Mesa `llvmpipe` (software OpenGL), a small window manager, and VNC + noVNC servers (see
-  [`docker/gui_desktop.sh`](docker/gui_desktop.sh)). It is the default on Apple Silicon (arm64),
-  where the container gets no native GL context, and can be enabled on any host on demand.
+- **VNC virtual desktop** *(default)* — a self-contained desktop inside the container: `Xvfb`
+  rendered by Mesa `llvmpipe` (software OpenGL), a small window manager, and VNC + noVNC servers
+  (see [`docker/gui_desktop.sh`](docker/gui_desktop.sh)). You view it from a browser or a VNC
+  client; no host-side setup.
+- **Native X11** — host display forwarding (needs `xhost`). Opt in by disabling VNC with
+  `LUCY_FORCE_VNC=0` (see below).
 
 ### Choosing VNC vs native X11 (`LUCY_FORCE_VNC`)
 
-By default the mode is picked from your architecture. Set `LUCY_FORCE_VNC` in a root `.env`
-(or the environment) to override — e.g. an amd64 Linux box can opt into the VNC desktop:
+The VNC desktop is enabled by default. Set `LUCY_FORCE_VNC` in a root `.env` (or the
+environment) to change it:
 
 | `LUCY_FORCE_VNC` | Behaviour |
 | :-- | :-- |
-| unset *(default)* | Auto: VNC on arm64, native X11 on amd64 |
-| `1` / `yes` / `true` | Force the VNC desktop on any architecture (e.g. an amd64 host without working GLX) |
-| `0` / `no` / `false` | Force VNC off even on arm64 (fall back to native X11 / headless) |
+| unset / `1` / `yes` / `true` *(default)* | VNC virtual desktop |
+| `0` / `no` / `false` | VNC off — native X11 / headless |
 
 ### Connecting to the VNC desktop
 
@@ -149,8 +149,8 @@ the address it shows. Defaults:
 
 ### macOS notes
 
-- On Apple Silicon, XQuartz can't give the container an OpenGL context, so the VNC desktop is
-  used by default — no setup required.
+- macOS can't give the container a native OpenGL context over XQuartz, so keep the default VNC
+  desktop (don't set `LUCY_FORCE_VNC=0`).
 - **Port 5000** is taken by the macOS AirPlay Receiver, and the control panel defaults to it.
   The launcher auto-shifts to the next free port, but for a stable URL you can disable
   **System Settings → General → AirDrop & Handoff → AirPlay Receiver**, or set

docker/ensure_image.sh

@@ -86,14 +86,12 @@ ensure_lucy_docker_image() {
       ;;
   esac
 
-  # VNC virtual-desktop tooling: installed on arm64, or forced on any arch with
-  # LUCY_FORCE_VNC=1 (lets an amd64 host try the VNC path). Folded into want_id and
-  # the image label below so toggling it forces a rebuild even though the
-  # Dockerfile text — the only other rebuild trigger — is unchanged.
-  install_vnc=0
-  [ "$target_platform" = "linux/arm64" ] && install_vnc=1
-  case "$(echo "${LUCY_FORCE_VNC:-}" | tr '[:upper:]' '[:lower:]')" in
-    1|true|yes) install_vnc=1 ;;
+  # VNC virtual-desktop tooling: installed by default; disable with LUCY_FORCE_VNC=0.
+  # Folded into want_id and the image label below so toggling it forces a rebuild even
+  # though the Dockerfile text — the only other rebuild trigger — is unchanged.
+  install_vnc=1
+  case "$(echo "${LUCY_FORCE_VNC:-1}" | tr '[:upper:]' '[:lower:]')" in
+    0|false|no) install_vnc=0 ;;
   esac
 
   hash=$(dockerfile_build_hash "$dockerfile")

launch_lucy.sh

@@ -74,15 +74,11 @@ ensure_docker_image() {
 
 X11_ARGS=()
 GUI_PORT_ARGS=()
-ARCH="$(uname -m)"
-# LUCY_FORCE_VNC selects the in-container VNC desktop:
-#   unset  -> auto: VNC on arm64 (no working native GL), native X11 on amd64
-#   1/yes  -> force VNC on any arch (also set it for ./install.sh so the image
-#             is built with the VNC tooling)
-#   0/no   -> force VNC off even on arm64 (falls back to native X11 / headless)
-USE_VNC=0
-case "$ARCH" in arm64|aarch64) USE_VNC=1 ;; esac
-case "$(echo "${LUCY_FORCE_VNC:-}" | tr '[:upper:]' '[:lower:]')" in
+# LUCY_FORCE_VNC selects the in-container VNC desktop (on by default):
+#   unset/1/yes -> VNC desktop (software GL via llvmpipe)
+#   0/no        -> VNC off (native X11 / headless)
+USE_VNC=1
+case "$(echo "${LUCY_FORCE_VNC:-1}" | tr '[:upper:]' '[:lower:]')" in
   1|true|yes) USE_VNC=1 ;;
   0|false|no) USE_VNC=0 ;;
 esac
@@ -113,7 +109,7 @@ elif [ "$USE_VNC" = 1 ]; then
   echo "       Browser (noVNC):  http://localhost:${GUI_NOVNC_PORT}/vnc.html  (no password)"
   echo "       VNC Viewer:       localhost:${GUI_VNC_PORT}  (password: ${GUI_VNC_PASSWORD})"
 else
-  # AMD64: native X11 forwarding, no VNC.
+  # Native X11 forwarding (VNC disabled via LUCY_FORCE_VNC=0).
   GUI_DISPLAY="${DOCKER_GUI_DISPLAY:-$DISPLAY}"
   if [ -n "$GUI_DISPLAY" ]; then
     if command -v xhost &>/dev/null; then