Is stealing ever justifiable?

Sometimes even the most moral person can turn to bad things in times of desperation. For example, if a poor man had to feed his family, but had no money for food, he may be forced to steal a simple loaf of bread or piece of fruit from somewhere, just so his wife and children could eat. Or also, people are tricked or blackmailed into doing things. Mob groups have ways of digging up dirt on people and threatening to hurt a person's family etc. if they don't comply, so even if the person knows stealing is wrong, that person wouldn't want to run the risk of not doing anything and losing their family.