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Replaced the outdated grako library to parse WKT with TatSu (#1587) #2907

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Run time

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Job	Run time
deploy	2m 26s
test-windows	6m 19s
test-macos	4m 10s
test-linux (3.10)	5m 5s
test-linux (3.11)	4m 40s
release	0s
	22m 40s