The San Francisco Police Department’s Internal Affairs Bureau found that two officers acted within policy more than four years ago when they fatally shot a knife-wielding man in the back and side following a confrontation over a bicycle in the Mission District.

The department on Wednesday released more than 700 pages of documents in the investigation into the controversial shooting of 21-year-old Amilcar Perez-Lopez. The reports found Officer Eric Reboli and Sgt. Craig Tiffe were within policy when they shot the Guatemalan immigrant six times on Feb. 26, 2015.

The district attorney’s office in 2017 declined to file charges, citing insufficient evidence that the officers broke any laws in the killing that sparked outrage among neighborhood community groups. The city last year agreed to pay Perez-Lopez’s family $275,000 to settle a civil lawsuit.

Wednesday’s documents, which include reports by the Internal Affairs Bureau and Homicide Bureau, along with recommendations by the Police Commission and transcripts of interviews with the officers, were released under the police transparency law SB1421, which took effect Jan 1.

While the investigation found the officers’ actions met policy standards, the department determined Tiffe had failed to bring his department-issued pepper spray, an impact weapon and a spare magazine when he approached Perez-Lopez.

Chief Bill Scott ordered Tiffe to be admonished and retrained over the failure to have the items. The order, though, did not constitute discipline, according to the report.

Both officers have since returned to duty.

The fatal shooting outraged community groups in the Mission District and beyond, and the incident came amid a wave of police killings, including the shooting of Mario Woods in the Bayview in December 2015. The series of deadly officer-involved shootings led to the ouster of then-Chief Greg Suhr and prompted the Justice Department to conduct a federal review of the Police Department.

Just before 9:45 p.m. the night of his death, Perez-Lopez was armed with a large kitchen knife and began chasing another man down the street, prompting a witness to call 911, officials said. Perez-Lopez and the other man had either been arguing over the sale of a bicycle, or the confrontation erupted in a nearby apartment where Perez-Lopez grabbed the knife, according to investigators.

Reboli and Tiffe, who were plainclothes officers out of Mission Station, were the first to respond to the scene. As they arrived, Reboli announced himself as a police officer and encountered the victim while Tiffe went to speak to Perez-Lopez, officials said. Tiffe said his police star was hanging from a chain outside his jacket, and he announced himself as a police officer.

Tiffe told investigators that Perez-Lopez then swiped at him with the knife and Reboli ran to assist his partner before the two opened fire, according to the report.

Reboli said he was protecting himself and his partner, while Tiffe said he had fired believing Perez-Lopez was going after the earlier victim with the knife. An attorney for the family said Perez-Lopez was intoxicated, didn’t realize the plain-clothes officers were police, and was trying to force them back before he took off running.

According to the medical examiner’s report, five of the bullets struck Perez-Lopez in the back and one struck him from left to right.

A use-of-force expert retained by the district attorney’s office said it was possible Perez-Lopez had faced Reboli when Reboli began to shoot, only to turn at the last moment and receive the shots in the back.

Activists in the Mission District are working a mural on the Calle 24 Cultural Latino District building at 24th and Capp streets to honor Perez-Lopez.

Evan Sernoffsky is a San Francisco Chronicle staff writer. Email: esernoffsky@sfchronicle.com Twitter: @EvanSernoffsky