Prevent Hands from going through table.

Hi,

I am using the Unity Movement SDK to controle an Avatar in my unit scene.

I want the player to sit in front of a table in real life and place his hands on it. In VR, the hands should also be on a table.
I can roughly adjust it so that the hands are on the table. The only problem is that there are always small inaccuracies when tracking and the AVatar's hands keep disappearing into the table.
Is there a way to prevent the hands from sliding through the table and always lying on it?