Sa'id ibn al-Musayyib سعيد بن المسيب بن حزن أبو محمد القرشي · The Chapters on Legal Punishments

“Whoever has intercourse with a Mahram relative, kill him; and whoever has intercourse with an animal, kill him, and kill the animal.”

some people raided the she-camels of the Messenger of Allah (ﷺ) , so the Prophet(ﷺ) cut off their hands and feet (on opposite sides) and lanced (gouged out) their eyes.