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In your toolkit, look for the Grab Sensor.
There's an option there that is for "on imp hover" - so you could wire that to the glow of the sculpt (or a keyframe if you're after more precision, or a nice fade in/fade out effect)
For the D Pad controls, you'll need a controller sensor with the D Pad wired up to an AND gate. Then you'll also need to wire up the "on imp hover" from the Grab Sensor. That means that when both the imp is hovering, AND a button is pressed, the desired output will happen.
Hope that helps! :)