DeVos and Seymour (2003) proved that for every set $C$ of 3-colorings of a set $X$ of vertices, there exists a plane graph $G$ with vertices of $X$ incident with the outer face such that a 3-coloring of $X$ extends to a 3-coloring of $G$ if and only if it belongs to $C$. We prove a generalization of this claim for $k$-colorings of $X$-rooted-$K_{k+1}$-minor-free $K_{k+2}$-minor-free graphs.