Bash – Change cursor shape (or color) to indicate vi mode in bash

To clarify: I am not asking how to change the cursor when using vim within a terminal. I want the cursor to change when switching between input and command mode within Bash's vi-mode:

set -o vi <CR> type some text <ESC> (the cursor changes shape/color)
i (cursor change back) etc...

I found a script that makes changing color of the cursor on mode changes possible in zsh, but I don't want to change shells just for this one feature.

Is there a way to get the cursor to change shape, like in gvim, (or even just color) when switching between command and insert modes on the Bash command line?

Bash – Change cursor shape (or color) to indicate vi mode in bash

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