SVG.js is a JavaScript library for working (manipulating and animating) with SVG without any complexity. The library is standalone, very lightweight in size (5kb gzipped) and has lots of features.
There are built-in methods for creating shapes (rectangle, circle, polygon, etc.) or defining images.
They can all be animated with size, position, color or any other properties and be interacted with standard JavaScript events.
It has support for grouping elements for mass manipulations, filling them is possible and a unified API simplifies working withВ theВ library.
SVG.js is extendable with plugins and there are already various plugins (like dragging or easing).
Website: http://www.svgjs.com/
Demo: http://svgjs.com/test/
Download: https://github.com/wout/svg.js