Can we taxonomize social interaction into broad categories?
No. Every form of human interaction can mean different things to different people(including the expresser) in different situations.
preferred and unpreferred forms of gross human behaviour?
I don't think any gross forms of human behaviour would be preferable. If your behavious is gross to the one you interact with than therefore it is going to be viewed by them as gross and unpreferable. However if you were questioning whether there are inherently negative forms of human interaction and inherently positive forms I would then say it depends on the situation. If i shit in front of my lover, he would not mind as much as if I did it in front of my mother for example. I think there can be inherently gross acts if you are aware of the situation and can concieve of their grossness as you commit them, but the act would only be applicable for grossness in THAT form. I can kill a person for the fun of it. But I can also kill them because if I do not kill them they will kill me and loved ones.
What should be the guiding principle with regards to man's interaction with man - that is, society
Respect.