The PDF manual currently doesn't support SVG graphics from:

• The parser grammar: https://www.jooq.org/doc/dev/manual/sql-building/sql-parser/sql-parser-grammar/
• The new spatial functions: https://www.jooq.org/doc/dev/manual/sql-building/column-expressions/spatial-functions/

This page documents how SVGs can be included in XSL-FO
https://stackoverflow.com/a/2371391/521799