Good and bad would be judgements made on preconceived ideas based on desires and fears. In hindsight, what is good or bad could be based on what the cost (and what/who incurred the cost) of an event was. Take away judgement and what is, is.

Having said that, people do what they do the best way they can, using the skillset and mindset they have available at the time that they have developed in their past or havr inherited genetically. Their action is generally not very sensitive to the current moment, it is tied to what has come before. Some event takes place, the mind and body evaluates/judges, finds the best response it has, moves. It is a reaction based on experience. If it is a completely unfamiliar/surprising event, the reaction is based on the experience of not having experience. Perhaps a startled jump or frozen in place.

The social side of being good is probably based on fear of ostracisation/judgement from the group and tge need to be in a group. If the action performed in front of the group is not the same that would be performed alone, there must be an internal conflict and therefore the action is not inherent in the person.

If you are only good when people are watching, are you good?