Technically it's stealing but I doubt police would bother
I once walked past a skip whilst about 7 months pregnancy with DD. Walking used to help stop me getting leg cramps so bad I thought my legs were broken below the knee.
Skip had some lovely lamps in it and a couple of, very in at the time, leather beanbags.
So I knocked the door to ask if it was OK to take them?
Lady was lovely, she was surprised I had knocked to ask, expecting people to help themselves. Turned out her husband had left her and she was getting of everything in his taste to replace it.
When she noticed I was pregnant, she said she had some baby bits if I'd like them. She had three sacks of the most stunningly beautiful, mostly brand new, blankets, bedding sets, grobags, baby clothes and toys. I gladly took the lot. I told her about Freecycle too to save her the cost the skip!
I don't mind a look in a skip, I found a box of vinyl records once and old hifi equipment, knocking to ask for it, the man was chucking his father's stuff away after he had passed and no one in the family wanted it. I actually gave him £50 as I said I felt bad for just taking it.