How Successful is the Insanity Defense in Criminal Trials?

Sigmund and Freud went shopping at a local mall.  Moments after entering an electronics store, Sigmund puts a pair of airpods in his pocket.  Freud watches Sigmund put the airpods in his pocket but does not say anything.  A security guard sees the act and affronts Sigmund and Freud.  For this discussion, what possible crimes have been committed by Sigmund? Freud?  Are there any available legal defenses?