The idea that David Badiel is not offended, therefore it's not offensive is utterly ludicrous. That infers that if a Jewish man thinks it's funny, then it's not offensive to anyone, which is clearly nonsense.
Except, that's not where David Badiel is coming from on this.
He is speaking as a comedian, and his point is that the man in the video advised what he was doing and why he was doing it - it is nothing to do with race hate at all.
I would be far more upset if he is actually supported by 'Tommy Robinson' - who understands less than nothing about behaving properly.