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You need to do {{{ asume(v1,'real'); asume(v2,'real'); asume(v3,'real'); }}} because some of the simplifications you need are not valid for complex numbers. You can just call "simplify_full" on the vector itself. It will apply to the entries.

It looks like you need to let mrot act on the left, though: mrotu; or u(mrot.T), and even then it looks like you get the vector (-1,0,0); so there may be a sign error somewhere or sage takes an unexpected branch cut somewhere.