def METHOD_NAME(self, friendly_team: Team) -> RobotControlled:
    """
    Returns the current robot from the friendly team
    :param friendly_team: The friendly team
    :return: The current robot
    """
    for robot in friendly_team.robots:
        if robot.__class__.__name__ == "RobotControlled3D":
            return robot
        if robot.__class__.__name__ == "RobotControlled2D" and robot.active == True:
            return robot
    raise AssertionError