A new photo is sparking a debate of whether sexual assault goes one way (male-female) or both:
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Did he object to being grabbed?
If I grab a woman's tits and she doesn't object, was my action appropriate?
Depends on the context. If you're in bed with her, probably fine. If you're in church and she's the reverend's daughter, probably not.
If she's asleep and has not made it clear it's okay for you to do that while she's sleeping, no.