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I found there is a lightweight cairosvg package for Python for SVG to PDF conversion.
This adds a module to use it for conversion.
I have a large activity diagram created with PlantUML. Currently on Ubuntu 18.04.4 LTS I get strangely scaled images with inkscape, rsvg-converter makes it huge and very slow (although other tools keep it small and fast). CairoSVG is fast, but unfortunately the diagrams don't have all lines in correct places. But CairoSVG is under active maintenance, so that may improve over time. I request adding support for it as an alternative to the others.