Illegal activity prohibited by law.
They may want money, or they may act by impulse.
For revenge, when they are the victim of something they do not desire, they would want to retaliate the pain, possibly by murdering someone. Or they can just do so as an accident, or lack knowledge of the law. Or they can just desire to use others for their own pleasure, like child sexual abusers. Or they desire a resource so much that they are willing to steal it… Usually, it’s an overly strong desire to gain something at the cost of others.