Would i feel fear if i found myself standing in front of a car, about to be run over? Of course. Is that fear a part of the decision-making process i go through to determine if it is safe to cross the road? Nope.
You kind of have a point here.
However, it is worth considering that many decisions (like the one to commit a crime, perhaps) are inherently emotionally charged. Consider a family deciding whether or not to "pull the plug" on grandma's life support. Grandma won't get better, the doctors say, and she's in a lot of pain. However, most, if not all people, are also motivated by the
emotions of hope, love, and perhaps even fear of a world without Grandma. The criminal decision, for some people, at least, is like this. They legitimately fear prison, or the law. more often than not, people do not act rationally. A purely rational agent would not commit crimes, because they see, as you say, the disatvantages. However, the lure of a fast benefit is often balanced only by fear of the law.
You don't cross the street when there's a car coming. But if you're like most people, it's because you are afraid of dying, not because getting hit would be disadvantageous.