Custom interactions (buttons) in VR

Recently I’ve been working with Isaac Sim in VR (using Steam VR). I’ve spent some time trying to add any 3D object which will behave like a button - so if it is touched by the user, it will trigger some predefined action. But surprisingly I can’t find a way to achieve this.
Is it possible to do something like the above? If yes, then how can I do that? If no, are there any plans to add such functionality?