Because I support individualism and respect people's autonomy over their body. And their voice. So r*pe is wrong.
Murder is an evolutionary wrong thing, we evolved together as a species due to trust and society. If you go against those values, you're expelled from the shared community and thus, are charged as such. (Of course it's nuanced, but that's kinda my perspective)
Robbery, it's someone's belongings. It's pretty biological for animals to be territorial over their stuff. It happens with jaguars, hyenas, etc animals too, where robbery/taking of other's stuff is punished if the counter species is weaker. (Also in humans if we're talking practically).
So yeah, in all I think it's a mixture of biology, shared experiences and the evolution