A national news broadcast Wednesday showed footage of walkers, joggers and cyclists close together on the Embarcadero, setting off critics who said city residents weren’t taking the shelter in place order seriously.

Residents continued to work out along the waterfront promenade despite orders to put off all but the most urgent errands. But San Francisco officials pushed back against the criticism Thursday, saying residents are free to exercise outside as long as they practice social distancing.

The debate was sparked when live video of the waterfront activity played Wednesday on CNN as anchor Jake Tapper and the network’s chief medical correspondent, Dr. Sanjay Gupta, remarked that the outdoor activities may betray a lack of understanding about the severity of the coronavirus pandemic, or an indifference to it.

"I still really get the impression people in many places aren't taking this seriously," @drsanjaygupta says on many San Francisco residents ignoring the shelter in place order to stay home. "I'm worried these numbers- they keep going up." pic.twitter.com/ltGwFTrk1Q — The Lead CNN (@TheLeadCNN) March 18, 2020

“We see a whole bunch of people here who are not distancing. They’re holding hands and walking down the street and you know, normally, I’d say ‘bravo,’ but this is actually kind of enraging,” Tapper said.

“Many people in San Francisco have clearly not gotten the message.”

San Francisco and five other Bay Area counties announced mandatory shelter-in-place orders Monday in an attempt to curb the spread of coroanvirus, which is easily transmitted between people, particularly in close quarters.

Residents have been ordered to stay in their homes other than to handle essential tasks like obtaining food and medicine. All nonessential businesses, including bars and gyms, have been ordered to close. And restaurants have been forced to close their dining rooms, and accept only take-out or deliver orders.

While all nonessential travel, including on foot or by bike, has been suspended, San Francisco officials have reiterated that people are allowed to leave their homes for exercise and fresh air —provided they can practice effective social distancing, and keep at least 6 feet away from anyone they don’t live with.

Tapper and Gupta’s disdain for some residents apparently flouting the shelter-in-place mandate reflects the confusion that has surrounded the order since it was handed down on Monday.

“I still really get the impression that people in many places aren’t taking this seriously, and I think ... that’s a problem,” Gupta said.

“What needs to happen in this country is we need to break the cycle of transmission of this virus. And it doesn't look like that,” he said, referring to the footage of the Embarcadero. He also expressed concern about social distancing for places that don’t have shelter-in-place orders enacted.

Phil Ginsburg, general manager of San Francisco’s Recreation and Park Department, said in an email that, in addition to being in line with recommendations of health officials, outdoor activities — with proper social distancing — were “critical” for mental health and physical well-being..

“We really need to stay away from some of the ‘outdoor shaming’ going on right now. The shelter order is written specifically to allow runs, bike rides and walks in our parks because they are good for you and because we trust the citizens to get outside in a way that is safe for themselves and for their neighbors,” he said.

Perhaps due to chillier temperatures and intermittent showers, the Embarcadero was far less crowded Wednesday afternoon, with walkers and joggers leaving plenty of room for social distancing.

Rachael Kagan, a spokeswoman for the city’s health department, said “people need exercise and fresh air, and there is a way to do that within the confines of the” shelter-in-place order.

“To be clear about time spent outside, it is OK to go outside to walk your dog, or go for a walk, run or a hike, alone or with someone in your household. You can also go outside with someone else, as long as you stay six feet apart,” Kagan said.

Dominic Fracassa is a San Francisco Chronicle staff writer. Email: dfracassa@sfchronicle.com