Stealing is okay in all sorts of situations. Many things in life are more important than the rule of property.
If the property isn't important, why are you stealing it?
Personally I don't really care whether you think it's moral or not to steal, as long as you acknowledge that a victim of theft has an equally moral right to "steal" back what was taken, and to use a similar justification to steal a proportional (additional) amount from perpetrator. "Turnabout is fair play" and all that.
Because I'm starving so I'm stealing a sandwich ?
Because I don't have the money to buy something that would save my life (Medical treatment for instance) ?
Or did you mean it's okay to steal as long it's from other people?