text: from collections import namedtuple
  
  
  Pos = namedtuple("pos", ["x", "y", "z"])
  Marker = namedtuple("Marker", "markerId pos color category properties")
  RobotPerceptionData = namedtuple(
      "perception",
      ["new_objects", "updated_objects", "humans", "obstacle_map", "self_pose"],
      defaults=[None, None, None, [], None],
  )
  