How can i make an object an interactor that activates when a function is called in the xr interaction toolkit?

Sorry about the unclear title. I was wondering how I could make a game object an interactor for the XR interaction toolkit. I would like this object to be able to "grab" other objects like a VR player's hand would when they grip. to grab it, I would call a function or something similar to be able to activate this "grab". Again, sorry about the really bad wording but I really don't know how else to explain it.