I think he did! I mean first of all, they never show that there has been a rape- you just have to assume it
MY REASONS:
1) The lights went out- usually a big hint from the writers about what happened
2) Angad walked out saying, "how could I have done this?" and he never said that after beating sheetal up before
3) Someone already said a rape trial is coming up. I don't think Sheetal would lie about that, whether she is doing the right thing or not at the moment.
4) The way they showed them in the room- they kept showing their hands together and him above her the way when Prithvi and Kripa were together and if he was beating her up- what was he using to beat her up! I mean both his hands were holding her hands!
5) I think they also sort of Foreshadowed it when they showed Kripa talking to Angad a few days ago about beating Sheetal up and saying that he lost is his temper and her raped her.