And that is simply a gesture with the cane to emphasize her point. The assault comes later. If the tea doesn't.
Shoving a stick into someone's chest (looking at it again, it really
does look as if it makes contact), or even brandishing it
at someone sufficiently vigorously to cause them to rear back as Penelope does, goes
well beyond a gesture IMHO.
Claire didn't disrespect Penolpe's viewpoint, she just asked her to be respectful of it. Australia has a really thin definition of assault, Claire didn't even threaten Penolpe.
Tastes vary of course, but I would call poking a stick at or into someone's chest more threatening than respectful. Certainly if someone deliberately poked their cane into
my chest, I would regard it as threatening. Australia's legal definition of assault is essentially the same as the British one. Assault is behaviour that causes a person to
apprehend violence. An actual
act of violence is not assault, but battery, a different and separate offense. Generally speaking, laying hands (or sticks) on another person without their consent or lawful reason is risky behaviour.
Penelope was rude, and I hope I would not have made the same remark, so I have no problem with Claire's verbal response. But taking it to a physical level, especially with someone in no position to respond in kind to an elderly woman? Not a nice lady.