There is more to the push primitive than just the straighten.
After successfully testing the straighten primitive I can continue with the other substrategies for the push primitive. These include the inch and gather strategy.
Of course each of these substrategies would be dictated by internal start and stop conditions that are not the same as the ones indicating the current height or position of certain snake joints relative to the environment.
Once these have been sufficiently tested there will be a more robust push primitive available for us during the motion planning. Also as an attempt to help organize the start and stop conditions for the entire project I am going to make it a section in the comprehensive manual I am writing. Thus it will be a useful resource when planning out the conditions for future movements in the motion planning.
Updated Video will go here