A demo: http://ralphgoodtimes.com/webgame_chillyzombies.html
Source code here: http://ralphgoodtimes.com/webgames_info.html
Use it for both commercial and non-commercial purposes. I hope you enjoy it as much as I enjoyed developing them.
It's...undocumented. That's really the most I can make of it, now. I have promised to work on helping document it, which I will try to do over the holidays, but as of now, you pretty much have to read the entire code, and you'd still have no idea how the creator wants each piece to fit in with the other pieces (if you check my source code, note how, for example, I circumvent the build-in health system simply because I don't know how it works)
Take for example doodlejs: it doesn't have any of the things you mention, BUT its scene graph is superior to all other engines.
Not everyone wants the same things in his framework. E.g. sprite animation makes no sense (not a lot) if your lib is vector & tween centric.
See my list of favorites in a comment higher up.
If you're looking for an equivalent product, xc.js has a big advantage over the others listed: it runs natively on iOS (and Android soon).
It's a fairly young library, and admittedly has some shortcomings but it would also love some contributions :).
In my personal favorites order with random remarks:
* https://github.com/kesiev/akihabara - arcade game centric
* https://github.com/oberhamsi/gamejs - (my lib) port of PyGame; commonjs
* https://github.com/biilly/doodle-js - scene graph
* https://github.com/batiste/sprite.js - simplistic but fast sprite handling
* https://github.com/fairfieldt/xcjs - coffeescript
* http://easeljs.com/ -Edit: And neither is canvas.js.
coolest features are:
* similar to PyGame.org API (so lots of docs & known patterns)
* commonjs support
* server-side support built in (via ringojs.org)
* modern browsers only
* MIT license