Could I know dataset format and its description

[Ennis12Noble]

i find (objects, occupancy, map, goal, ego_states, ego_hist_traj, ego_hist_traj_diff, ego_fut_traj, ego_fut_traj_diff) in pkl, but I don't know the physical meaning of the data especially bbox
And in function(rotate_bbox), i dont know theta means what or rotation_z something?
As I would like to construct a similar dataset with my data, I would be grateful if you could provide help in answering these questions!!