Mesh Vertex Coloring from Saved files

### Checklist

- [X] I have searched for [similar issues](https://github.com/isl-org/Open3D/issues).
- [X] For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [X] I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch).

### My Question

I wish to have mesh vertex colors from the loaded texture file.
[035_power_drill_custom.zip](https://github.com/isl-org/Open3D/files/9403223/035_power_drill_custom.zip)

among the uploaded directory: textured_simple_1.obj is vertex colored from meshlab but when loaded into o3d it shows uniform color

textured_simple.obj has a linked texture file.

i considered converting to a colored pointcloud but open3d mesh.sample_points_uniformly() only captures point and normal data not colors from a textured mesh.

is there a way to compare mesh.vertices to the mesh.textures and extract corresponding colors?

TIA