Which planning scene does Moveit! use to plan a collision-free path?

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Dear Community,

I am able to visualize the occupancy grid in rviz after launching moveit with a kinect.

There are two topics for the planning scene: 1. monitored_planning_scene: this one is updated if the env changes in real time 2. planning_scene: this one is kind of static

I want to know when using moveit! to perform collision-free path planning, eg. plan2 = group.plan() python api

Is the path planned against the monitored_planning_scene, which will reflect the current env or against planning_scene which is the first sight of the env when moveit! is launched?

Thank you so much for your help in advance!