You can use robot's new (as of 3.2) inline python evaluation feature:
@{tuples_list}= Set variable ${{ [('1', 'one'), ('2', 'two'), ('3', 'three')] }}
-or-
@{foo}= Create list
... ${{ ('1', 'one') }}
... ${{ ('2', 'two') }}
... ${{ ('3', 'three') }}
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