The Plesiosauria have their origins within the Sauropterygia, a group of perhaps archosauromorph reptiles that returned to the sea. An advanced sauropterygian subgroup, the carnivorous Eusauropterygia with small heads and long necks, split into two branches during the Upper Triassic. One of these, the Nothosauroidea, kept functional elbow and knee joints; but the other, the Pistosauria, became more fully adapted to a sea-dwelling lifestyle. Their vertebral column became stiffer and the main propulsion while swimming no longer came from the tail but from the limbs, which changed into flippers. The Pistosauria became warm-blooded and viviparous, giving birth to live young. Early, basal, members of the group, traditionally called "pistosaurids", were still largely coastal animals. Their shoulder girdles remained weak, their pelves could not support the power of a strong swimming stroke, and their flippers were blunt. Later, a more advanced pistosaurian group split off: the Plesiosauria. These had reinforced shoulder girdles, flatter pelves, and more pointed flippers. Other adaptations allowing them to colonise the open seas included stiff limb joints; an increase in the number of phalanges of the hand and foot; a tighter lateral connection of the finger and toe phalanx series, and a shortened tail.