I don't believe Danny Baker is either a racist, or malicious, or stupid.
However, on this occasion, his behaviour was stupid, and I am surprised at him, not just because of the questionable aspect of likening a baby from a mixed-race mother with a chimp, but because, even if both parents were white, it's a tasteless 'joke' anyway.
I think it was a stupid mistake, but people make mistakes, that's why they put rubbers on the end of pencils, so let's not get hysterical, I don't believe it is a sacking offence, in spite of what the twitface brigade say - they'll be outraged by something else tomorrow.