Making an object fall onto a plane with physics

Now that I have figured out how to use a Plane Finder, I'm wondering if it is possible to have an object fall onto the plane from a height, like in Google's ARCore demos of animals -- they seem to settle onto the plane from above.

Thinking about it, I suppose the answer would be to pick a point above the plane, and then have them fall first, and then position them to the plane second. Anyone have any thoughts on this?