private Instance prepareVisualInstance(
			HashMap<String, Boolean> actionTypeAttSetting, ArrayList<Double> lastAction,
			ArrayList<Double> ballInfo, ArrayList<Double> goalInfo,
			ArrayList<Double> teammatesInfo, ArrayList<Double> opponentsInfo,
			ArrayList<Double> visualInfo, double time) {
		visualInfo.clear();
		if (actionTypeAttSetting.get("States"))
			visualInfo.addAll(lastAction);
		if (actionTypeAttSetting.get("Time"))
			visualInfo.add(time);
		if (actionTypeAttSetting.get("Ball"))
			visualInfo.addAll(ballInfo);
		if (actionTypeAttSetting.get("Goal"))
			visualInfo.addAll(goalInfo);
		if (actionTypeAttSetting.get("Teammates"))
			visualInfo.addAll(teammatesInfo);
		if (actionTypeAttSetting.get("Opponents"))
			visualInfo.addAll(opponentsInfo);
		/*if (actionTypeAttSetting.get("Position"))
			// TODO: add pos info
		*/	
		Object[] array = visualInfo.toArray();
		double[] instance = new double[array.length];
		for(int i=0; i<array.length; i++){
			instance[i] = (Double) array[i];
		}
		Instance visualInstance = new Instance(1, instance);
		return visualInstance;
	}