I'm not sure of terminology for the verb itself, but for the direct object there are different thematic roles:
https://en.wikipedia.org/wiki/Thematic_relationSo a patient is usually in some way affected by the action (touched, changed, etc.), while a stimulus is usually not. The details vary a little depending on exactly which theory (e.g., which set of thematic roles) you're using and how you identify them, but something like this may apply in the case you're describing.
I have certainly seen in passing quite a few linguists talk about whether or not an object is in some way affected by the action, or in what way.
There are some interesting cases like "bake a cake" (sometimes called creation verbs, I believe), others involving moving the object (often called a "theme" then), and so forth.