Is it normal to want to touch/grope my partner while they sleep?

Is it normal to want to touch/grope my partner while they sleep?

Obviously I wouldn't do this unless I knew they would consent to me doing this while they're awake, but I think there's a part of me that just gets a bit of a thrill from doing it without them knowing. I think of it as being almost like a voyeuristic tendency, but for physical instead of visual stimuli.

The specific type of consistent and slightly more forceful breathing while somebody is sleeping also seems to be a turn on to me.