I'm not sure there are even any available clinically - side effect profiles so far have been pretty poor from what I recall (hyperthermia and issues detecting heat), but I think people are still trying very hard to overcome this. There are lots of published data on this e.g. http://informahealthcare.com/doi/abs/10.1517/13543784.2012.704021
Your question regarding "commercial availability of TRPV1 antagonists for pain management in animals" seems to imply clinical use, and/or the FDA approval required for such use. If this is actually what you are asking about, I would refer you to the "Green Book" which is what lists products approved by the FDA for veterinary use. http://www.fda.gov/AnimalVeterinary/Products/ApprovedAnimalDrugProducts/default.htm
I did not see any such products among the list the last time I checked. Since pain is a subjective experience, and animals cannot self-report pain or pain relief, it is not possible to definitively test potential pain relievers for clinical use in an animal population. That is why most veterinary medications for relieving pain are ones that are effective and approved for human use, which are subsequently tried and used for clinical relief of pain in animals (i.e. NSAIDs, Steroids). But as Rosie had referred to due to adverse effects, most important, hyperthermia and impaired noxious heat sensation many products have not made it far into the drug approval process. At the NIH, intrathecal resiniferatoxin is currently undergoing clinical trials in patients with intractable cancer pain. Also, some of the small-molecule TRPV1 antagonists have successfully passed Phase I safety and tolerability studies in healthy volunteers into Phase II studies to access efficacy in patients.
Vinod gave you information about experimental drugs that are available from a variety of sources, with varying selectivity and action at the TRPV1 receptor. But these would not be considered agents for "pain management in animals" as they are merely designed for specific activity at the receptor in order to be used for research purposes.
Thank you all. At present, TRPv1 is not an answer to clinically manage pain and we have to wait till the compounds get cleared for clinical trials, I think.