Bilaterally symmetrical in the context of "Cylindrical"

A limb (from Old English lim, meaning "body part") is a jointed, muscled appendage of a tetrapod vertebrate animal used for weight-bearing, terrestrial locomotion and physical interaction with other objects. The distalmost portion of a limb is known as its extremity. The limbs' bony endoskeleton, known as the appendicular skeleton, is homologous among all tetrapods, who use their limbs for walking, running and jumping, swimming, climbing, grasping, touching and striking.

All tetrapods have four limbs that are organized into two bilaterally symmetrical pairs, with one pair at each end of the torso, which phylogenetically correspond to the four paired fins (pectoral and pelvic fins) of their fish (sarcopterygian) ancestors. The cranial pair (i.e. closer to the head) of limbs are known as the forelimbs or front legs, and the caudal pair (i.e. closer to the tail or coccyx) are the hindlimbs or back legs. In animals with a more erect bipedal posture (mainly hominid primates, particularly humans), the forelimbs and hindlimbs are often called upper and lower limbs, respectively. The fore-/upper limbs are connected to the thoracic cage via the pectoral/shoulder girdles, and the hind-/lower limbs are connected to the pelvis via the hip joints. Many animals, especially the arboreal species, have prehensile forelimbs adapted for grasping and climbing, while some (mostly primates) can also use hindlimbs for grasping. Some animals (birds and bats) have expanded forelimbs (and sometimes hindlimbs as well) with specialized feathers or membranes to achieve lift and fly. Aquatic and semiaquatic tetrapods usually have limb features (such as webbings) adapted to better provide propulsion in water, while marine mammals and sea turtles have convergently evolved flattened, paddle-like limbs known as flippers.

A head is the part of an organism which usually includes the ears, brain, forehead, cheeks, chin, eyes, nose, and mouth, each of which aid in various sensory functions such as sight, hearing, smell, and taste. Some very simple animals may not have a head, but many bilaterally symmetric forms do, regardless of size.

Heads develop in animals by an evolutionary trend known as cephalization. In bilaterally symmetrical animals, nervous tissue concentrate at the anterior region, forming structures responsible for information processing. Through biological evolution, sense organs and feeding structures also concentrate into the anterior region; these collectively form the head.

An echinoderm (/ɪˈkaɪnəˌdɜːrm, ˈɛkə-/) is any animal of the phylum Echinodermata (/ɪˌkaɪnoʊˈdɜːrmətə/), which includes starfish, brittle stars, sea urchins, sand dollars and sea cucumbers, as well as the sessile sea lilies or "stone lilies". While bilaterally symmetrical as larvae, as adults echinoderms are recognisable by their usually five-pointed radial symmetry (pentamerous symmetry), and are found on the sea bed at every ocean depth from the intertidal zone to the abyssal zone. The phylum contains about 7,600 living species, making it the second-largest group of deuterostomes after the chordates, as well as the largest marine-only phylum. The first definitive echinoderms appeared near the start of the Cambrian.

Echinoderms are important both ecologically and geologically. Ecologically, there are few other groupings so abundant in the deep sea, as well as shallower oceans. Most echinoderms are able to reproduce asexually and regenerate tissue, organs and limbs; in some cases, they can undergo complete regeneration from a single limb. Geologically, the value of echinoderms is in their ossified dermal endoskeletons, which are major contributors to many limestone formations and can provide valuable clues as to the geological environment. They were the most used species in regenerative research in the 19th and 20th centuries. Further, some scientists hold that the radiation of echinoderms was responsible for the Mesozoic Marine Revolution.