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Is there a way to let a line, polygon,... , looks like it has been scribbled or hand drawn?

    <line x1="10" y1="20" x2="200" y2="300" style="stroke:rgb(99,99,99);stroke-width:2"/>
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Sure, break the line into several lines (or use a path with as many segments as you want). It should be fairly trivial to write a script that adds a bit of randomness to the points in each path segment. Another way is to use svg filters, see this example (more context and further examples available here).

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