Kingdom [Animalia] Linnaeus, 1758 - animals
   Ecdysozoa Aguinaldo, Turbeville, Linford, Rivera, Garey, Raff & Lake 1997, nom. cl. inval. - ecdysozoans see Clade Ecdysozoa Aguinaldo, Turbeville, Linford, Rivera, Garey, Raff & Lake 1997 [Lake, Halanych, Servin & Garey 2020]
     Panarthropoda Nielsen, 1995 - panarthropods
       Phylum Onychophora Grube, 1853 - velvet worms
         [stem] Class †Xenusia Dzik & Krumbiegel, 1989 [paraphyletic] - xenusians
           1 Genus †Hallucigenia Conway Morris, 1977
           2 Genus †Aysheaia Walcott, 1911