This is very similar to this question and I wonder whether something has happened in the last few years along these lines. I have version 1.0rc1.
In particular, having a symbol epsilon that represents an angle in the interval [0,π/2], I would like
asin(sin(epsilon))
to be epsilon, and
Abs(cos(epsilon))
to be cos(epsilon). I suppose if sympy knew about the interval of epsilon, it would be able to do such simplifications.