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A proto-mammalian giant Early terrestrial amniotes evolved into two groups: the sauropsids, which led to the bird and dinosaur lineages, and the synapsids, which led to mammals. Synapsids were diverse during the Permian but were greatly reduced after the end-Permian extinction (about 252 million years ago). The few groups that survived into the Triassic were mostly small and retained a sprawling gait. Sulej and Niedźwiedzki, however, describe a dicynodont from the Late Triassic of Poland that is as large as some coexisting dinosaurs and appears to have had an erect gait—like modern mammals. Thus, megaherbivores in the Triassic were not only dinosaurs. Science , this issue p.78

An elephant-sized Late Triassic synapsid with erect limbs