This is a very contentious definition and central to the question being asked. You can't pass it off as already decided without any debate.
Two situations for your definition, you tell me whether something is stolen:
1) You sell me a Ford Pinto that you know is likely to explode in a crash due to a design defect. I sue you after I'm burned up and win. I seize your private property by court judgement. Have I stolen from you?
2) A slave takes an apple from his master's orchard without permission and eats it. Has he stolen?