1
00:00:02,950 --> 00:01:06,950
observe

2
00:01:06,950 --> 00:01:18,000
set_motion left 100% · 1.0 m/s · 10 s
"Cone wall runs from the planter island across to the median, about 16 m ahead; the lane runs left along it. Starting the left turn now so I end up parallel and centered rather than late."

3
00:01:18,000 --> 00:01:31,650
observe

4
00:01:31,650 --> 00:01:43,850
set_motion left 100% · 1.0 m/s · 10 s
"Boundary cones still sweep from near-right to the median on the far left; a cone sits dead ahead at 13 m. Continuing full left to become parallel with left-side cones now visible in the wide view."

5
00:01:43,850 --> 00:02:11,850
observe

6
00:02:11,850 --> 00:02:21,900
set_motion left 100% · 1.0 m/s · 8 s
"Right boundary cones still sweep near-right to far-left; left orange cones far left in wide view. Need ~40 more degrees left to run parallel down the lane."

7
00:02:21,900 --> 00:02:43,650
observe

8
00:02:43,650 --> 00:02:52,750
set_motion left 100% · 0.8 m/s · 10 s
"Yellow cone 6 m dead ahead and orange 8 m ahead-left are my right boundary; full left to pass both on my right and finally line up with the lane toward the orange traffic cones."

9
00:02:52,750 --> 00:03:18,150
observe

10
00:03:18,150 --> 00:03:31,600
set_motion left 30% · 1.0 m/s · 6 s
"Orange right-boundary cones run ahead slightly left of my heading toward traffic cones; left cones visible in wide view. Easing to 30% left to center in the lane, then straighten."

11
00:03:31,600 --> 00:03:58,150
observe

12
00:03:58,150 --> 00:04:08,950
set_motion left 60% · 1.0 m/s · 6 s
"Straight lane ahead: orange right cones just right of my nose, left cones far left. I'm hugging the right edge, so steering left 60% briefly to move toward lane center."

13
00:04:08,950 --> 00:04:30,900
observe

14
00:04:30,900 --> 00:04:37,550
set_motion straight 0% · 1.2 m/s · 12 s
"Now centered: left orange cones far left, right cones about 2.5 m right. Lane runs straight toward two traffic cones ahead then bends right. Driving straight, longer duration to avoid stopping."

15
00:04:37,550 --> 00:04:57,150
observe

16
00:04:57,150 --> 00:05:08,550
set_motion right 30% · 1.2 m/s · 12 s
"Left orange cones curve right toward far traffic cones; right cones and traffic cone sit about 3 m right. Lane bends right ahead, so gentle 30% right to follow the curve centered."

17
00:05:08,550 --> 00:05:29,150
observe