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When he stayed in that temple "disobeying" his parents (John 2:41-52), he explains his actions perfectly
So...it's not sinful to violate a commandment as long as you have a really good reason to.
Got it.

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If Gods will and your parents will conflict, you must follow God.
Or, it's not sinful to violate a commandment as long as you are obey a conflicting commandment.
'Kay.

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As for Jesus picking fruit on the Sabbath, we must remember that he, as God the Son, knows the true intent of every law perfectly.
But he was sent to teach us, no? And by his example, it's okay to violate commandments as long as...what, you're sure it's okay by a higher purpose?