Avocado and Heirloom Tomato Gazpacho

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1 yellow bell pepper, diced (about 1 cup)

1 orange bell pepper, diced (about 1 cup)  

1 large seedless cucumber, peeled and diced (about 1 1/4 cups)  

1 medium shallot, minced  

1 medium clove garlic, minced  

2 medium heirloom tomatoes, diced (about 1 cup)  

1/4 cup chopped fresh flat-leaf parsley  

Juice of 1 lime  

1 tablespoon Louisiana-style hot sauce, such as Texas Pete  

2 tablespoons champagne vinegar or red wine vinegar  

1/4 cup olive oil  

Kosher salt and coarse black pepper  

1 avocado, roughly chopped  

1/2 cup plain Greek yogurt, for garnish