Is the criteria for a taur the number of legs, or is it just not having a humanoid below-torso. Is a mermaid a taur? Is a lamia? Is a drider?

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Is the criteria for a taur the number of legs, or is it just not having a humanoid below-torso. Is a mermaid a taur? Is a lamia? Is a drider?
A satyr is not a taur but a centaur is a taur
So really we should be calling them mertyrs lamtyrs and drityrs