It's been a long, difficult and mostly silent decade for R&B superstar D'Angelo, since he released his hit album Voodoo and set rock critic emeritus Robert Christgau's heart on fire. But even though he hasn't released any new music, he's still had some time for extra-curricular activities. To that end, the singer appeared in Manhattan Criminal Court yesterday to plead guilty to disorderly conduct for asking an undercover cop for sex last year.

D'Angelo was caught "cruising" through the West Village last March, when he mistook an undercover cop for a prostitute and propositioned her for oral sex for $40. He pleaded guilty to a reduced charge of disorderly conduct, a violation that gets rid of the sex-solicitation charge and doesn't carry a criminal record or any penalties.

D'Angelo has had several run-ins with the law in the past decade, largely involving his well-documented drug habit. His legal and substance troubles have haunted him, and prevented him from completing his in-work album, tentatively titled James River, which supposedly will contain collaborations with the likes of Prince, John Mayer, Cee-Lo Green, and Raphael Saadiq. Below, you can check out the famous video for his single "Untitled (How Does It Feel)", aka the shirtless song: