dear Vi Tran,
The table AGR_HIER is the main storage for Role Menu structure.
there is a field called SAP_GUID which is 25 digit unique id of the object. SAP_GUID is the same as GENUNIID from table RSRREPDIR. From RSRREPDIR table you can find the corresponding GENUINID for a query and enter in the SAP_GUID field in table AGR_HIER to find the role.
Regards, Arvind