This was a great way to create some enthusiasm and fun for Baxter! Great thinking to go the the floor and then transition back to walking! We think you are on the right track and your plan sounds very appropriate. Keep it up.
Do you have a harness to work Baxter on? We would prefer he was not working on a leash attached to his collar. When they have such great leash manners like this, it can create a bit of conflict for the dog when you ask them to take initiative to sniff out something.