def METHOD_NAME(self, world_state: stp.rc.WorldState) -> None:
    self.assigned_roles = []
    for i, robot in enumerate(self.assigned_robots):
        role = self._role_requests[i][1]
        if role is passer.PasserRole:
            self.assigned_roles.append(role(robot))
        elif role is receiver.ReceiverRole:
            self.assigned_roles.append(role(robot))