Seems like you have this case figured out already, but for if it's of any help to you, I'll share my method to the madness.
I keep a collection of small, broken pieces of dead rock, and a bottle of super glue gel on standby; "Gel" is very important here. A Ricordea florida or yuma can be removed from the water momentarily with no issues, so pick your rock, apply a very small dab of super glue gel to the rock, and place the polyp's foot, centered best as possible, on the rock.
You dont' need to "push" the poylp into the gel, in fact this would likely sieze up much more of the Ric's tissue, and prevent expansion. Best bet is simply place it on and place it in the tank. The small adhered area will be just enough to keep 'er steady until some new growth occurs
Hope this helps!