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

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](http://docs.ros.org/indigo/api/pr2_moveit_tutorials/html/planning/scripts/doc/move_group_python_interface_tutorial.html) 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!