You need to use interact with target. There's instructions in post #3 of my Jamba tutorial for how to do quests.
When it comes to looting, simply use Interact with target the same way you would on an NPC. The slaves will open the corpse and try to loot. This can also be used to have slaves skin {or herb, or mine or even dismantle} empty corpses if they have the ability.
When it comes to lootable objects that are not off a corpse, you will still need to manually use your slaves.
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