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Therapsids were that descended from a Dimetrodon-like pelycosaur. The therapsids appeared in the Early Permian times. Tetraceratops, a synapsid (not a dinosaur), lived in Early Permianin what is now North America. It was the first therapsid. Therapsids' descendants, the cynodonts, were the ancestors of the [[Mammaliformes|first mammals]].