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Symbolic algebra: Sage, Maxima, Ginac, Sympy?

Hi all. In this period I am working on symbolic matrices, and I am a bit confused about the various possibilities and the mutual relationships.

If I understand correctly, for symbolic computation Sage uses Ginac and Maxima, but I have no a clear idea of the different roles of the two packages in Sage own engine.

Furthermore, I am reading some tutorials about Sympy. I know that Sympy is included in the huge library of Sage packages, but it is not directly used in any way by Sage for symbolic computation? Could you please clarify a bit these points?