Cnidarians are the first multicellular organisms with tissue grade of organisation. E.g. Jelly fish.
Nematodes, are bilaterally symmetrical, triploblastic pseudocoelomate animals. E.g. Ascaris.
Annelids, are bilaterally symmetrical and triploblastic, but in addition they have a true body cavity. E.g. Nereis.
The animals which belong to phylum Arthropoda are bilaterally symmetrical and segmented. E.g. Scorpion.