How to pickup objects with Kinect (using colliders)

so i'm working on a kinect project a simple memory game where we have 4 objects 2 red ones and 2 green ones the objective is to store them in a red box and a green box, i get feedback from the kinect and i'm able to control the cursor with my hands and the cursor changes color when it hovers the object i want to pick up, now i need help on making kinect pickup that object and drop it in a box

if there is no solution with colliders, there's no problem i just want it to work

we are coding on C#, and using colliders to change the cursor color.