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Well, you could try to imitate putting in slot, but it would take some work and playing with bhavs, and I'm not certain it would work :-<
You can create an animation which would raise your object to the table height ? put to the floor. Now, the question is where to call this animation
As far as I remember, when I created napkins (matching to the 5-slot table), I tried the 'Allow object intersection' bhav, but it didn't worked. Maybe I messed up something, or maybe it's really wrong place for that. So back then I just added interactions 'Raise to table/counter/etc level'.
Maybe you'll find a better workaround.