Heaven may not be exactly as we expect. We might be able to do wrong in heaven. John by mistake worshipped an angel or fellow believer in heaven.
Rev 19:10 And I fell at his feet to worship him. And he said unto me, See thou do it not: I am thy fellowservant, and of thy brethren that have the testimony of Jesus: worship God: for the testimony of Jesus is the spirit of prophecy.
If John was indeed in heaven when this occurred, he made a mistake, he worshipped an angel or fellow believer, and this person corrected him.
So, perhaps we will never be absolutely 100% perfect, even in heaven.
And perhaps there can even be sickness or physical injury in heaven.
Rev 22:1 And he shewed me a pure river of water of life, clear as crystal, proceeding out of the throne of God and of the Lamb.
2 In the midst of the street of it, and on either side of the river, was there the tree of life, which bare twelve manner of fruits, and yielded her fruit every month: and the leaves of the tree were for the healing of the nations.
3 And there shall be no more curse: but the throne of God and of the Lamb shall be in it; and his servants shall serve him:
Why would the leaves of the tree of life be needed for healing if there is no sickness or injury in heaven?
I am not making dogmatic statements here, I am simply mentioning these verses that seem to show a person might err or make a mistake in heaven, and that perhaps sickness or injury can occur there. Of course, we would be healed by the leaves of the tree of life and never die.
If so, we will not be robots or puppets in heaven.