different poker rooms have different rules. in our room if the dealer touches the cards its mucked, period - but we are harsh on this subject.
by some rules it is mucked, BUT there is precedence to getting the cards back if there was misinformation present for the player who mucked. if, and only if, the cards can be guaranteed to belong to that player can they be recovered (which it sounds like they were) and this is floors discretion in what they think is in the best interest of the game,
I hope two things happened.
1. The player said he misread the board, or heard you say something that wasnt true (or another player)
2. The floor gave the accidental mucker a warning
but since this was the Commerce I highly doubt it - I have known them to have many issues as a card room, this type of thing being one of them
Was it a bad floor decision? - tough to say but floor does have a right to call the cards live by rule, but really only if there is a good reason, which sounds like there was not one barring additional info.
again in my room I call that a muck, no questions asked, and it is a rule i made because of shitty play like this one, once the dealer touches the cards thats it!
oh and no it was NOT ok for the player to pull them from dealers hand - thats a warning for sure