I can only intelligently speak about the one rapist that I have interviewed, and for him, I could clearly tell that the crime was about power. His victim was an 82 year old woman, who he admits he picked because she would be less of a problem to control than the 24 year old that he attempted to rape a year before. It wasn't about the sex to him, it was about "feeling like a man" by exerting his power over a female.
Also... don't get burglary and robbery confused. A robbery is the taking of something from a person by force or threat of force. A burglary is simply the breaking and entering of a residence/storehouse with the intent to commit a crime. (in my state, a 4th degree burglary doesn't have that last qualification of the intent to commit a crime.) People always say "my house got robbed", which is inaccurate.
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