Obstacle aware IK for Baxter on ROS Hydro

Hey there,
I am working on a Baxter and ROS Hydro. My plan is to make the baxter reach for an object while detecting the human hand. So basically if the current IK solution is not obstructed by the human hand then go to target but if it is obstructed, recalculate the trajectory to get to the target.
Is there a piece of code in this repository that does this ?
Please advise.
