Good evening, I don't see how you could be charged with burglary in this situation.
Here is the burglary statute in Iowa:713.1 BURGLARY DEFINED.
Any person, having the intent
to commit a felony, assault or theft
therein, who, having no right, license or privilege to do so, enters
an occupied structure, such occupied structure not being open to the
public, or who remains therein after it is closed to the public or
after the person's right, license or privilege to be there has
expired, or any person having such intent who breaks an occupied
structure, commits burglary.
Also, you don't seem to fit the definition of 1st degree burglary, which is defined as follows:713.3 BURGLARY IN THE FIRST DEGREE.
1. A person commits burglary in the first degree if, while
perpetrating a burglary in or upon an occupied structure in which one
or more persons are present, any of the following circumstances
The person has possession of an explosive or incendiary
device or material. b.
The person has possession of a dangerous weapon. c.
The person intentionally or recklessly inflicts bodily
injury on any person. d.
The person performs or participates in a sex act with any
person which would constitute sexual abuse under section 709.1.
2. Burglary in the first degree is a class "B" felony.
Clearly, since you did not have the intent to steal the property, you cannot have committed a crime. If the police have not arrested you yet, it is important not to talk to them without having an attorney present.
If you are arrested, the prosecutor's office makes the decision whether to charge you or not. Therefore, do not make any statements to the police while in custody and instead speak with a criminal
defense attorney. While I don't believe a prosecutor would charge you here if they are aware that you were given permission to enter your relation's house and take the cabinets, an attorney can negotiate with the prosecutor to have the charges against you dismissed.
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