Bilateria is a large clade of animals characterised by bilateral symmetry during embryonic development. This means their body plans are laid around a longitudinal axis with a front and a rear end, as well as a left–right–symmetrical belly (ventral) and back (dorsal) surface. Nearly all bilaterians maintain a bilaterally symmetrical body as adults; the most notable exception is the echinoderms, which have pentaradial symmetry as adults, but bilateral symmetry as embryos. With few exceptions, bilaterian embryos are triploblastic, having three germ layers: endoderm, mesoderm and ectoderm, and have complete digestive tracts with a separate mouth and anus. Some bilaterians lack body cavities, while others have a primary body cavity derived from the blastocoel, or a secondary cavity, the coelom. Cephalization is a characteristic feature among most bilaterians, where the sense organs and central nerve ganglia become concentrated at the front end of the animal.