From what I remember in my criminal justice classes (Bachelor's degree in CJA) is that there has to be actus reus and mens rea in order to be guilty. If they say the actus reus is proven because the action of touching it, I can easily prove i did not go in attempting to commit a crime (as we know I did not think that was assault or I would not have done it). My one goal of going in there was to get the stuff and leave because we had to go.
I was in law enforcement but left the academy. One thing I remember during training was "eyes on hands, protect your weapon, and distance is your friend" I wanted to try law enforcement again after a few years but im rethinking based on how twisted laws work where just because they called first automatically makes me the suspect. I dont know if i feel right taking someone in just because they didnt call first and among other things.