Therapsida is a major group of eupelycosaurian synapsids that includes mammals and their ancestors. Many of the traits today seen as unique to mammals had their origin within early therapsids, including limbs that were oriented more underneath the body, as opposed to the sprawling posture of many reptiles and salamanders. The earliest fossil attributed to Therapsida used to be Tetraceratops insignis from the Lower Permian. However in 2020, a new study has found that Tetraceratops is not actually a true Therapsid, but should be considered to be a member of the more ancient Sphenacodontia from which the therapsids evolved.