Probabilistic information of the scene objects in Moveit or V-REP?

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Hi I would like to do collision detection/ obstacle avoidance in path planning task. So for that purposes would like to use Moveit or V-REP to build the scene environment. I have my own robot model and the sensors model too, so can build the environment with the objects with there bounding boxes. So , I would like to include some probability in the detected objects with some Gaussian uncertainty . Any help or tutorial how to get idea and do that ?

Thanks