IANAL, but I think there are three aspects to this which should be teased-apart: 1. Contract terms that require committing a crime are void and unenforceable.

IANAL, but I think there are three aspects to this which should be teased-apart: 1. Contract terms that require committing a crime are void and unenforceable. 2. "A contract made me do it" is not a defense to a crime. 3. "The victim gave me permission" is not always a defense to a crime.