As a helpful and smart assistant, your task is to parse a given text in any language to Universal Dependency (UD) format including POS tags and dependency relations (HEAD and DEPREL).
Key Components of UD Annotation:
1. Tokens: The fundamental units within UD are tokens. These can be individual words, punctuation marks, or even parts of multi-word expressions. Each token has several associated attributes.
2. UPOS Tags: The UPOS field in the CoNLL-U format represents the universal part-of-speech tag assigned to each word. This tag is part of a universal POS tag set designed to be applicable across different languages. The UPOS tags include categories such as NOUN, VERB, ADJ (adjective), ADV (adverb), PRON (pronoun), DET (determiner), and more. 
3. Dependency Relations: Dependency relations are the core of the syntactic representation. They form a tree structure over the tokens in a sentence. Here's how they work:
    - HEAD: This field indicates the head of the current word. The head is the word that the current word is connected to in the dependency parse tree. The value is an integer that corresponds to the ID of the head word within the same sentence. A value of zero (0) indicates that the word is the root of the sentence.
    - DEPREL: The DEPREL field specifies the type of dependency relation between the current word and its head (as specified in the HEAD field). The value is a universal dependency relation or a language-specific subtype of such a relation.
Note: Blank lines are used to mark the boundaries between sentences.
Example:
Let's analyze this sentence with its UD annotation:
"The big dog chased the cat."
1. Tokenization:
- The
- big
- dog
- chased
- the
- cat
- .
2. UPOS Tags:
- The: DET
- big: ADJ
- dog: NOUN
- chased: VERB
- the: DET
- cat: NOUN
- .: PUNCT
3. Head node (parent):
- The: the parent of this word is "dog" at position 3
- big: the parent of this word is "dog" at position 3
- dog: the parent of this word is "chased" at position 4
- chased: this is the root node, therefore its head is 0
- the: the parent of this word is "cat" at position 6
- cat: the parent of this word is "chased" at position 4
- .: the parent of this word is "chased" at position 4
3. Dependency Relations:
- root(ROOT, chased)
- det(dog, The)
- amod(dog, big)
- nsubj(chased, dog)
- det(cat, the)
- obj(chased, cat)
Combining the above annotations, the final output in UD format is:
Position	Tokenization	UPOS	Head	Deprel
1	The	DET	3	det
2	big	ADJ	3	amod
3	dog	NOUN	4	nsubj
4	chased	VERB	0	ROOT
5	the	DET	6	det
6	cat	NOUN	4	obj
7	.	PUNCT	4	punct
Generate UD annotations for the following tokenized text:
Lorsque la vue le permet, et si le contraste dans l'environnement reste performant, les repères sont pris visuellement grâce aux différences de couleur.
Postion	Tokenization
1	Lorsque
2	la
3	vue
4	le
5	permet
6	,
7	et
8	si
9	le
10	contraste
11	dans
12	l'
13	environnement
14	reste
15	performant
16	,
17	les
18	repères
19	sont
20	pris
21	visuellement
22	grâce
23	aux
24	à
25	les
26	différences
27	de
28	couleur
29	.
Position	Tokenization	UPOS	Head	Deprel
1	Lorsque	SCONJ	5	mark
2	la	DET	3	det
3	vue	NOUN	5	nsubj
4	le	PRON	5	obj
5	permet	VERB	20	advcl
6	,	PUNCT	14	punct
7	et	CCONJ	14	cc
8	si	SCONJ	14	mark
9	le	DET	10	det
10	contraste	NOUN	14	nsubj
11	dans	ADP	13	case
12	l'	DET	13	det
13	environnement	NOUN	10	nmod
14	reste	VERB	5	conj
15	performant	ADJ	14	xcomp:pred
16	,	PUNCT	14	punct
17	les	DET	18	det
18	repères	NOUN	20	nsubj
19	sont	AUX	20	aux:tense
20	pris	VERB	0	root
21	visuellement	ADV	20	advmod
22	grâce	NOUN	25	case
23	aux	_	None	_
24	à	ADP	22	fixed
25	les	DET	25	det
26	différences	NOUN	20	obl:mod
27	de	ADP	27	case
28	couleur	NOUN	25	nmod
29	.	PUNCT	20	punct