Get object color though python PlanningSceneInterface

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I have implemented a custom object detection node which publishes a MoveIt planning scene including object colors in the moveit_msgs/PlanningScene.object_colors field. The colored objects are displayed correctly by the RViz MotionPlanning plugin.

However, I cannot find a way to get the object colors through moveit_commander.PlanningSceneInterface in Python. I read through some docs and sources but it looks like there are no methods provided to access the object colors.

Am I overlooking something? As a workaround I could put the color as a string inside the object's database key, but this seems like a hack.