Start watchOS session from iOS companion

Is there a way to start a meditation session on iOS that brings watchOS app to the foreground?

For example, some workout apps (built-in Workouts or 3rd party — FutureFit) are doing that, but looking through documentation I cannot find a way to do so.

In Coordinate with the Companion App section (https://developer.apple.com/documentation/healthkit/workouts_and_activity_rings/running_workout_sessions) they hint that users should open the app themselves:

If the user starts a workout in the iOS companion, and then opens your watchOS app

Start watchOS session from iOS companion
 
 
Q