insbox is a set of generic macros that allow to insert (almost) any box (graphic file, equation, …) on the left ot the right of a paragraph. The two main commands are \InsertBoxL{n}{boxcontent}[correction] and \InsertBoxR{n}{boxcontent}[correction] where n is the number of lines at the beginning of the paragraph that remain untouched, and the optional correction is the number of supplementary lines that should be left or right indented, in case the box height is not exactly computed. In addition, there is an \InsertC{boxcontent}that interrupts a paragraph at the point of insertion, just terminating the current line, inserting the box contents centred on the page and resuming the parargraph afterwards.
I wrote once a very small insbox.sty file, that is a wrapper for insbox.tex and adds \InsBoxO and \InsBoxImacros (put on the outside or inside margin), that mimic the o and i options of the wrapfigureenvironments. Here is the code:
\ProvidesPackage{insbox}[2004/03/21 package wrapper for insbox.tex]
\RequirePackage{ifthen}
\input insbox
\newlength\insboxmargin
\insboxmargin=3mm
\makeatletter\@InsertBoxMargin=\insboxmargin\makeatother
\newcommand{\InsBoxO}[2]{\ifthenelse{\isodd{\value{page}}}{\InsertBoxR{#1}{#2}}{\InsertBoxL{#1}{#2}}}
\newcommand{\InsBoxI}[2]{\ifthenelse{\isodd{\value{page}}}{\InsertBoxL{#1}{#2}}{\InsertBoxR{#1}{#2}}}
\makeatletter\newcommand{\resetmargin}{\@restore@}\makeatother
\endinput
For the problem of inserting figures in lists environments, you can see my answer (based on insbox) to this question.
To insert a caption, one must use the threeparttable environment and the \captionof command (from the caption package).
Here is an example:
\documentclass[a4paper,10pt]{report}
\usepackage[utf8]{inputenc}
\usepackage[T1]{fontenc}
\usepackage{fourier}
\usepackage{insbox, wrapfig}
\usepackage{graphicx, captdef, threeparttable, caption}
\usepackage{lipsum}
\begin{document}
\setcounter{table}{2}
\lipsum[1-2]
\verb+\InsertBoxR inserted here: +
\InsertBoxR{10}{%
\begin{threeparttable}
\begin{tabular}{lrrr}
\hline
sgnj & 0.31 & 1.16 & 1.16 \\ safd & 0.46 & 0.91 & 0.99 \\ dsfv & 0.42 & 0.78 & 0.56 \\ jl;; & 0.35 & 1.18 & 1.47 \\ sdfd & 0.38 & 0.76 & 0.79 \\ degf & 0.27 & 1.29 & 1.33 \\ fewf & 0.24 & 0.58 & 0.59 \\ werf & 0.30 & 0.71 & 0.71 \\ fhjj & 0.64 & 1.45 & 0.60 \\ wdff & 0.45 & 1.16 & 0.79 \\
\hline
\end{tabular}
\captionof{table}{My table}%\label{c_table3}
\end{threeparttable}
}[6]%
\lipsum [3-5]
\end{document}

insboxlets ins you insert about any box on the left or the right of a paragraph, with a predefined number of lines of ‘normal’ length before the box is inserted. – Bernard Aug 12 '14 at 11:34