Fix pedestrian animation in semantics map

[pengzhenghao]

What changes do you make in this PR?

• Please describe why you create this PR

close #645

Checklist

• [x] I have merged the latest main branch into current branch.
• [x] I have run bash scripts/format.sh before merging.
• Please use "squash and merge" mode.

[pengzhenghao]

I don't think the errors in test relate to this PR. So I will ignore them.