Staurikosaurus was placed in the clade Herrerasauridae by Benedetto in 1973. Herrerasauridae also includes Herrerasaurus ischigualastensis and Eoraptor lunesis, both small predatory animals that were either dinosaurs or precursors to dinosaurs. These three dinosaurs lived during the Carnian stage of the Triassic period. Some phylogenetic analyses excluded Eoraptor from the Herrerasauridae Phylogenetic analysis by Sues, Nesbitt, Berman and Henrici, in 2011, exclude Eoraptor, and include Chindesaurus along with Herrerasaurus as more derived than Staurikosaurus. Sanjuansaurus was assigned to Herrerasauridae by Alcober and Martínez (2010). Sues (1990) assigned Ischisaurus to Herrerasauridae. Other proposed members of the clade have included Sanjuansaurus from the same Ischigualasto Formation of Argentina as Herrerasaurus, and possibly Caseosaurus from the Dockum Formation of Texas, although the relationships of these animals are not fully understood, and not all paleontologists agree. Alcober and Martinez (2010) concluded that Staurikosaurus and Sanjuansaurus are closely related based similarities in their pubis and tibia.
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