Fuzzy 3D cost map in ROS?

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Hello ROS developers.

Background:

In an work I'm doing a robotic manipulator should grasp a human forearm on user input. I'm thinking of using Fuzzy logic to generate a 3D cost map such that the end-effector do not hit the human in an unwanted or unplanned area of the body.

The questions

1. Can OctoMap/OMPL use a 3D cost map with a float value or is it only bool?

2. Can T-RRT algorithm be used to solve the planning for the gripper?

3. Can Moveit be used to plan such that it uses a 3D float cost map on Melodic? (preferably without heavy modifications)

General tips on where I can find papers/information/others that have done the same is much appreciated.