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:
Esther Imbert (ou Ysambert), (à Fontenay-le-Comte--vers 1593), dite la « belle rochelaise » fut une maîtresse du roi de France Henri IV de 1586 à 1588.
Postion	Tokenization
1	Esther
2	Imbert
3	(
4	ou
5	Ysambert
6	)
7	,
8	(
9	à
10	Fontenay-le-Comte
11	--
12	vers
13	1593
14	)
15	,
16	dite
17	la
18	«
19	belle
20	rochelaise
21	»
22	fut
23	une
24	maîtresse
25	du
26	de
27	le
28	roi
29	de
30	France
31	Henri
32	IV
33	de
34	1586
35	à
36	1588
37	.
Position	Tokenization	UPOS	Head	Deprel
1	Esther	PROPN	24	nsubj
2	Imbert	PROPN	1	flat:name
3	(	PUNCT	5	punct
4	ou	CCONJ	5	cc
5	Ysambert	PROPN	1	conj
6	)	PUNCT	5	punct
7	,	PUNCT	10	punct
8	(	PUNCT	10	punct
9	à	ADP	10	case
10	Fontenay-le-Comte	PROPN	1	nmod
11	--	PUNCT	13	punct
12	vers	ADP	13	case
13	1593	NUM	10	nmod
14	)	PUNCT	10	punct
15	,	PUNCT	16	punct
16	dite	VERB	1	acl
17	la	DET	20	det
18	«	PUNCT	20	punct
19	belle	ADJ	20	amod
20	rochelaise	ADJ	16	xcomp:pred
21	»	PUNCT	20	punct
22	fut	AUX	24	cop
23	une	DET	24	det
24	maîtresse	NOUN	0	root
25	du	_	None	_
26	de	ADP	27	case
27	le	DET	27	det
28	roi	NOUN	24	nmod
29	de	ADP	29	case
30	France	PROPN	27	nmod
31	Henri	PROPN	27	appos
32	IV	NUM	30	nmod
33	de	ADP	33	case
34	1586	NUM	24	nmod
35	à	ADP	35	case
36	1588	NUM	33	nmod
37	.	PUNCT	24	punct