Therapsida is a group of synapsids that includes mammals and their ancestors. Many of the traits today seen as unique to mammals had their origin within early therapsids, including having their four limbs extend vertically beneath the body, as opposed to the sprawling posture of other reptiles. The earliest fossil attributed to Therapsida is Tetraceratops insignis from the Lower Permian. Therapsids evolved from pelycosaurs (specifically sphenacodonts) 275 million years ago. They replaced the pelycosaurs as the dominant large land animals in the Middle Permian and were replaced, in turn, by the archosauromorphs in the Triassic, although one group of therapsids, the kannemeyeriiforms, remained diverse in the Late Triassic. The therapsids included the cynodonts, the group that gave rise to mammals in the Late Triassic around 225 million years ago. Of the non-mammalian therapsids, only cynodonts and dicynodonts survived the Triassic–Jurassic extinction event. The last of the non-mammalian therapsids, the tritylodontid cynodonts, became extinct in the Early Cretaceous, approximately 100 million years ago.