Does it make you a bad person/friend if you didn't mean to do it?

Like what if you didn't know it was going to hurt their feelings or you were hurting them? I'm not talking about where u only care about yourself I'm just talking you were straight up unaware of others like you made a joke that u thought was obvious, you did something that you thought would be beneficial or would help, you misinterpreted their words/intentions so you're hurt and said some mean things.