Another option is the 'scaling trick'. Parent the can prop to the hand, adjusting it to fit the intended grip. Save that grip to the library in 'hands'. Now delete all the animation keyframes you just made for the hand closing onto the can (after keeping your backups safe, of course. you do back up, right....? ;P ). And make sure you write down how many frames it took to 'grasp' the parented can; that's an important number.

Next, set the 'hand can' global scale to 0.

Place a second can on the table, and parent it to the table.

Do your walk up animation, and whatever reaching motion you need.

Next, at the correct time, load the animated grasp pose you created before.

At the end of this, the figure's hand should be around the table can. Between two frames, expand the hand can to 100 and the table can to 0. That should be faster than the eye can register, and leaves you with an 'apparent' pickup of the object on the table. You have to be sure that the texture alignment is identical, of course.

And placing the can back on the table is the same process, in the other direction. It takes some tweaking to get it right, but it works.