Cells have information in their dna on how they should behave.
Depending on different triggers like environmental conditions, they can trigger different sequences of those instructions. When organism starts to develop, there are instructions on how cells should divide, like what becomes an arm, what becomes a leg based on how many divisions been done and from what point. Then they just follow these instructions.
There are cases where these instructions can fail, leading to bit missing, or it being in the wrong place.
We can actually monipulare these intructions, and have on things like fruit flies. Where you can make a limb grow to a different place.
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