Editor’s Note: This story has been updated with additional information from Essex County authorities.

Lawyers for an Orange man who was shot and wounded during an encounter with Elizabeth police in December have released police body camera footage from the chaotic incident and are asking for the state Attorney General’s office to investigate.

The frenetic video shows officers firing several shots and subduing 37-year-old Michael A. Bates in the street, as Bates himself even tries to calm the officers and assure them they did what they were “supposed to do.”

And a judge later released Bates, saying she had concerns about the official account presented by officers.

Elizabeth officers were responding to an unrelated domestic violence call around 2 a.m. on Dec. 22 when they say Bates approached officers and threatened them. Two officers fired at Bates, striking him once.

Bates allegedly claimed he had a firearm and threatened to harm four officers “while multiple civilians were also present in the area,” according to his criminal complaint.

Bates' attorney Abraham Rubert-Schewel released body camera footage of the encounter on Tuesday, Jan, 29, saying the officers’ use of force was unwarranted.

On Thursday, Jan. 31, the Essex County Prosecutor’s Office, which is investigating the shooting, posted nearly 18 minutes of body camera footage of the incident to YouTube, saying their footage offers a more complete view of the incident.

The body camera videos provided by Rubert-Schewel — which were edited by NJ.com for clarity — show two officers responding to the domestic violence call before running down a flight of stairs in a residence. Two other officers who had responded to the domestic were outside with the other party involved in that incident.

Suddenly, the officers race downstairs and multiple shots are heard. Officers scream orders for Bates to get on his stomach.

Police allege Bates was swinging an “apparent handgun back and forth, pointing it toward the officers and making various threats to harm the officers,” according to the affidavit of probable cause.

The videos released by the attorney and prosecutors don’t show that exchange.

Several people in the videos can be heard yelling that Bates has a gun. He allegedly confirmed that remark, stating, “Yeah, I got a gun,” though that can’t be heard in the videos.

Footage from an officer who was outside talking to a woman involved in the domestic captures what seems to be Bates approaching the area and yelling. While his words aren’t clear, it sounds like he says “I’m Michael Bates” at one point.

“Yo, does he have a gun in his hand?” the officer says, before declaring, “He has a gun.”

After the shooting stops, the yelling continues.

“Where’s the gun,” an officer asks Bates after he is shot. “What did you just come at us with, man. What the f—- did you have in your hand?

At that point, Bates responded, “No gun, no gun,” saying all he was holding was his cellphone. No weapon was located, his attorney said.

Police continue to quiz him and Bates yells, “Relax, relax, relax,” at the officers. “I got ya’ll.”

“Ya’ll did what ya’ll supposed to do” he tells them.

One of the videos shows Bates’ bloodied mid-section and an officer describes the wound as a graze.

Bates repeatedly tells the officers that someone assaulted a woman.

“They beat my girl up,” he says, without identify who is responsible. “They jumped my girl, yo.”

Bates was treated for a non-life threatening injury and charged with making terroristic threats, a third-degree charge, and causing or risking widespread injury or damage, a fourth-degree offense.

Rubert-Schewel said Bates was walking past the intersection of Court and Third streets when officers responding to a commotion outside ran downstairs and fired on Bates without warning. Only the officers who were upstairs fired, he said.

“The police, in an attempt to justify the shooting, claimed Mr. Bates charged the officers and yelled ‘I have a gun,’” Rubert-Schewel said.

During a Jan. 2 detention hearing, Superior Court Judge Lara K. DiFabrizio ordered Bates released, noting that the evidence she reviewed — an apparent reference to body camera footage — didn’t show the claims made by police.

“I’m not saying it didn’t occur. I’m just not sure how it occurred,” the judge said, according to a transcript of the hearing shared by Bates’ attorney. “ … it doesn’t appear to be exactly as stated with the waiving of the gun. ‘I’m going to kill you,” … it just doesn’t seem … I’m not saying it didn’t happen … But from what I have, it just doesn’t appear that way.”

Bates wants the AG’s shooting response team to conduct a grand jury investigation into the shooting, calling it an excessive and unwarranted use of force.

The Essex County Prosecutor’s Office is reviewing the shooting rather than Union County because one of the Elizabeth officers involved in the incident has a professional relationship with the Union County office, officials explained in December.

Legislation currently awaiting Gov. Phil Murphy’s signature would require that the Attorney General’s office investigate all fatal police-involved shootings. Currently, county prosecutors review cases involving municipal departments.