They got in under false pretenses. If they had of driven up to the checkpoint, introduced themselves to the police as the Chaser guys and asked permission to head into a restricted zone to pull a prank AND had still been waved through, then you may have a point, but as it was, they pretended to be someone they weren't to gain access. Yes the police shouldn't have been fooled so easily, but the Chaser guys shouldn't have been trying either.
As for not harming anyone, but that logic, we should ignore a lot of crimes. Would you feel the same if you found someone in your backyard - not harming you, not spying, just sitting there? I'm sure you would want police action then, even if the guy wasn't harming anyone. They broke the law, everything else is largely irrelevant in the question of their guilt.
Difference being; I wouldn't have waved them through the gate before calling the cops.
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