Snap.svg
Snap.svg is a JavaScript library for creating and working with SVG.
Svg.js
Svg.js is a lightweight library for manipulating and animating SVG
Others
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If you definitely need svg and want to only use existing elements you may want to look at snap.svg which is raphaels younger sister and shares a lot of the same codebase or another like svg.js from question Initializing Raphael with an svg element |
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The snap.svg syntax is a bit more concise the svg.js code is more readable from question Snap.svg vs Svg.js |