diff --git a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
index 472c63d68a..c4fb3f565a 100644
--- a/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
+++ b/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
@@ -53,6 +53,7 @@
 #include <octomap_msgs/msg/octomap_with_pose.hpp>
 #include <memory>
 #include <functional>
+#include <optional>
 #include <thread>
 #include <variant>
 #include <rclcpp/rclcpp.hpp>
@@ -742,6 +743,7 @@ class MOVEIT_PLANNING_SCENE_EXPORT PlanningScene : public std::enable_shared_fro
   bool hasObjectColor(const std::string& id) const;
 
   const std_msgs::msg::ColorRGBA& getObjectColor(const std::string& id) const;
+  const std::optional<std_msgs::msg::ColorRGBA> getOriginalObjectColor(const std::string& id) const;
   void setObjectColor(const std::string& id, const std_msgs::msg::ColorRGBA& color);
   void removeObjectColor(const std::string& id);
   void getKnownObjectColors(ObjectColorMap& kc) const;
@@ -1015,7 +1017,9 @@ class MOVEIT_PLANNING_SCENE_EXPORT PlanningScene : public std::enable_shared_fro
   StateFeasibilityFn state_feasibility_;
   MotionFeasibilityFn motion_feasibility_;
 
+  // Maps of current and original object colors (to manage attaching/detaching objects)
   std::unique_ptr<ObjectColorMap> object_colors_;
+  std::unique_ptr<ObjectColorMap> original_object_colors_;
 
   // a map of object types
   std::unique_ptr<ObjectTypeMap> object_types_;
diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
index 20d8364ff9..250a1013d3 100644
--- a/moveit_core/planning_scene/src/planning_scene.cpp
+++ b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -1269,6 +1269,7 @@ bool PlanningScene::setPlanningSceneMsg(const moveit_msgs::msg::PlanningScene& s
   collision_detector_->cenv_->setPadding(scene_msg.link_padding);
   collision_detector_->cenv_->setScale(scene_msg.link_scale);
   object_colors_ = std::make_unique<ObjectColorMap>();
+  original_object_colors_ = std::make_unique<ObjectColorMap>();
   for (const moveit_msgs::msg::ObjectColor& object_color : scene_msg.object_colors)
     setObjectColor(object_color.id, object_color.color);
   world_->clearObjects();
@@ -1621,6 +1622,11 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::msg::At
         const Eigen::Isometry3d& pose = attached_body->getGlobalPose();
         world_->addToObject(name, pose, attached_body->getShapes(), attached_body->getShapePoses());
         world_->setSubframesOfObject(name, attached_body->getSubframes());
+        const auto original_object_color = getOriginalObjectColor(name);
+        if (original_object_color.has_value())
+        {
+          setObjectColor(attached_body->getName(), original_object_color.value());
+        }
         RCLCPP_DEBUG(LOGGER, "Detached object '%s' from link '%s' and added it back in the collision world",
                      name.c_str(), object.link_name.c_str());
       }
@@ -1975,6 +1981,17 @@ const std_msgs::msg::ColorRGBA& PlanningScene::getObjectColor(const std::string&
   return EMPTY;
 }
 
+const std::optional<std_msgs::msg::ColorRGBA> PlanningScene::getOriginalObjectColor(const std::string& object_id) const
+{
+  if (original_object_colors_)
+  {
+    ObjectColorMap::const_iterator it = original_object_colors_->find(object_id);
+    if (it != original_object_colors_->end())
+      return it->second;
+  }
+  return std::nullopt;
+}
+
 void PlanningScene::getKnownObjectColors(ObjectColorMap& kc) const
 {
   kc.clear();
@@ -1997,6 +2014,12 @@ void PlanningScene::setObjectColor(const std::string& object_id, const std_msgs:
   if (!object_colors_)
     object_colors_ = std::make_unique<ObjectColorMap>();
   (*object_colors_)[object_id] = color;
+
+  // Set the original object color only once, if it's the first time adding this object ID.
+  if (!original_object_colors_)
+    original_object_colors_ = std::make_unique<ObjectColorMap>();
+  if (!getOriginalObjectColor(object_id))
+    (*original_object_colors_)[object_id] = color;
 }
 
 void PlanningScene::removeObjectColor(const std::string& object_id)