add self-defined objects into planning scene Rviz MoveIt!

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Just like adding a box or a cylinder into the planning scene in Rviz, could anyone shed light on how to add self-defined objects to the planning scene so as to do collision detection and motion planning?

What I would like to add is a curved surface (a bezier surface). I can easily draw these curved surfaces using OpenGL, so is there a way to import them to the planning scene in Rviz?

I am thinking probably getting CAD models and importing CAD models is another way to solve the problem.

Any ideas would be appreciated.