def METHOD_NAME(
    self,
    world_state: stp.rc.WorldState,
) -> List[RobotIntent]:
    """Performs one "tick" of the specified play.
    This should:
        1. Determine if role assignment is necessary.
        2. If so, perform role assignment with self.assign_roles().
        3. Tick Tactics to aggregate robot_intents with self.get_robot_intents().
    :param world_state: Current state of the world.
    :return: list of robot intents where index = robot_id
    """
    ...