How can i Prevent Kinematic object not to pass through another rigidbody object

Hi All,
I am developing an oculus Home like project where i am facing a problem of object passes through walls and other objects.
The scene is described as,
I have an object that has Box Collider and an Rigidbody (Gravity false , Kinematic true)
 A wall and a Floor with Box Collider and Rigidbody(Gravity false , Kinematic False)
 I am moving an object with hands movement. Translate object near and far using thumbstick,
the problem is that when i move object far the object pass through the wall and floor.
As you can see in the image below the object is passing through in the walls and the floor.
Please help me and suggest a better solution.

Thanks in advance.