diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
index 4ccf04fd82..a0d9c6d8f8 100644
--- a/moveit_core/planning_scene/src/planning_scene.cpp
+++ b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -1657,8 +1657,6 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::Attache
       const EigenSTL::vector_Isometry3d& poses = attached_body->getGlobalCollisionBodyTransforms();
       const std::string& name = attached_body->getName();
 
-      robot_state_->clearAttachedBody(name);
-
       if (world_->hasObject(name))
         ROS_WARN_NAMED(LOGNAME,
                        "The collision world already has an object with the same name as the body about to be detached. "
@@ -1670,6 +1668,8 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::Attache
         ROS_DEBUG_NAMED(LOGNAME, "Detached object '%s' from link '%s' and added it back in the collision world",
                         name.c_str(), object.link_name.c_str());
       }
+
+      robot_state_->clearAttachedBody(name);
     }
     if (!attached_bodies.empty() || object.object.id.empty())
       return true;