Lots of people would probably rather not commit crime. Not everyone, but a lot of crime is people who see no other way. People society usually failed while they were children. It’s still all a big system. If you don’t change the cause you’ll continue to get the same results. Even someone actively committing crime like the armed robber you describe are still part of that. Motivation is just the affect of previous events. You can say this without condoning criminal acts.