bechmark pdf plots

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hello,

i'm new to ROS and need to benchmark diffenrent ompl planners for my master's thesis. I created a scene in RViz with a robot and a CAD-stl model, configured a config file for benchmarking in the benchmark GUI. Benchmarking worked fine. Now i got these pdf files containing all these box plots. I checked out http://ompl.kavrakilab.org/benchmark.... for more information on those plots, but it's rarely explained...

can someone tell me in whitch scale an unit for example the clearance, smoothness is plotted? And what's the difference between path plan time and process time (which both should be scaled in seconds, right?)?

hope you can help me with this, thanks!!

bsti