Only steal from those who can afford to lose what you're taking, don't steal from houses while the homeowners are home, don't take items necessary to someone's well-being (medications, assistance aids).
There are plenty of things that you can take / sell on for money that will cause a minimum of harm to your victim. Losing their flat-screen or Playstation won't hurt them, losing their insulin or the pile of personal papers they had in that drawer will.