Eupelycosauria is a large clade of animals characterized by the unique shape of their skull, encompassing all and their closest extinct relatives. They first appeared 308million years ago during the Early Pennsylvanian epoch, with the fossils of Echinerpeton and perhaps an even earlier genus, Protoclepsydrops, representing just one of the many stages in the evolution of mammals,Kemp. T.S., 1982, Mammal-like Reptiles and the Origin of Mammals. Academic Press, New York in contrast to their earlier amniote ancestors.
The group was originally considered a suborder of pelycosaurs or "mammal like reptiles",Reisz, R. R., 1986, Handbuch der Paläoherpetologie – Encyclopedia of Paleoherpetology, Part 17A Pelycosauria Verlag Dr. Friedrich Pfeil, but it was redefined in 1997, and the term pelycosaur itself has fallen into disfavor. We now know that the eupelycosaurs were not in fact reptiles nor of reptile lineage - the modern term stem mammal is used instead. Some recent studies suggested that one of its subgroups, Varanopidae, are really nested within sauropsids, leaving the other defined subgroup of it, Metopophora, as its synonym.
Therapsids descended from a clade closely related to the sphenacodontids. They became the succeeding dominant land animals for the rest of the Permian, and in the latter part of the Triassic, descendants of the , an advanced group of therapsids, gave rise to the first true . All non-therapsid synapsids, including all basal eupelycosaurs, as well as many other life forms, became extinct at the end of Permian period.
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