Annelids, or segmented worms, have bilateral symmetry and a body cavity containing organs. Earthworms have over 100 segments and move using setae and muscles. They ingest soil, grind it, and excrete waste to aid the soil. Earthworms have a closed circulatory system and exchange gases through their skin. They are hermaphrodites that need to mate to reproduce. Marine worms have segments with bundled setae, with some free-moving and others building tubes. Leeches lack setae and feed on blood, being used medicinally to prevent coagulation and study treatments. Segmented worms are valuable as they aerate soil, produce medicines, and provide food.