Batik requires quite a lot of third-party components to run. Probably some of them are missing in your environment.
In Maven-driven projects it is sufficient just to add
I’ve also shown JEuclid MathML dependency above for a case you (or someone else) need to have them both. JEuclid also pulls a lot of additional components and some of them conflict with Batik dependencies. The above version combination is safe and works fine.