It does have a "pipette" but I think it only affects the color of a new object as it's created. But you can (assuming you can export the color scheme as an image, I haven't used that app yet) use that feature to make a temp object and read off the RGB values of the desired color. Every item in VSD has a selection for defining a custom color for it by entering the RGB values. Not as clean and convenient as a direct color picker but that would get the colors into the program, at least.
However you get the RGB values I think you're going to be entering them in by hand, except for the aforementioned object creator. If you're going to make a lot of shapes with color fills then you're golden.
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