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Just to complement @fvd it’s necessary to extend the source code:

This is planning_scene_interface.py code:

https://docs.ros.org/en/kinetic/api/moveit_commander/html/planning__scene__interface_8py_source.html

It only imports from shape_msgs

from shape_msgs.msg import SolidPrimitive, Plane, Mesh, MeshTriangle

You can add from visualization_msgs to get RGBA

https://github.com/ros/common_msgs/blob/noetic-devel/visualization_msgs/msg/ImageMarker.msg