The undercover footage, which was aired on a BBC Panorama programme, showed Sergeant Clayton Robinson saying "I've got to be honest, I've gone to bed before and can't remember taking my trousers off" after another officer told him about a rape allegation in which a woman said she woke up without trousers on and did not remember taking them off, a misconduct hearing was told.
The disciplinary panel ultimately found the officers had acted properly. Mr Tekeste had concealed his actions and the officers' risk assessment and level of observation were appropriate based on the information they had.