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Karim Zeroual once entered the Twelfth Doctor's TARDIS with Hacker the Dog when they were on a mission to build a robot. (TV: The Robot Reveal)
Biography
Karim and Hacker had a lot of robot designs on a table, one of which they needed to turn into a robot. Karim didn't know what to do with them all, so Hacker borrowed the Doctor's TARDIS, who created BI1nk Bot 3 for them. He and Hacker chased the robot around a bit.
Behind the scenes
Karim Zeroual played himself in the story.