When I was playing Po-Po from 2009-2019, Im pretty sure we had a policy for that. But there's a "box" of sorts which at my agency we applied to our actions.
The 4 sides of the box where as long as your conduct was in the box, you're golden:
Moral
Legal
Ethical
Within Policy
I see people harp on policy and law day in and day out. There is far more to policing than words on paper... it takes a good heart, and a heart that's hard sometimes. Not losing your shit on the scene of a murder/suicide or some kid getting dismembered after getting hit by a car, or interviewing a child molester after you already saw the CCTV footage of the act(s)... and also in the same shift going to help an old lady turn off her sprinklers because she forgot how to for the 3rd time this month who had no familyor friends to help (she made the best oatmeal raisin cookies btw).
There were times when I was dealing with a suspect that a partner came up to me and said, "hey man, I got this, take a step back." And times where I did that for them.
There are times when you're dealing with people and you get tunnel vision, completely focused and whats directly in front of you and everything else seems like a blur. Thats when its incumbent on other officers to not just ask if you need help, but just step up and help.