The way in which current science has the kingdoms divided, human is part of the animalia kingdom.
If we can present kingdoms in this new fashion, we could determine that the animal kingdom went extinct and through the descent of the human kingdom, the array of animal populations extended through the entire range whereas when the animal kingdom itself was present on earth (due to the 4th round being a midpoint in the 7 rounds), a mid range of animal forms had been attained previous to the human descent. It was the descent of the human kingdom that stimulated a growth from animal (attained evolution) up through all intermediary stages to the midpoint of the human kingdom.
As the girasas descends, the humans may or may not experience a distant awareness of the forms attainable in future rounds (5th through 7th). The matter becomes complicated by the condition or state of the round changing dramatically from fire, air, water to earth and then to ether in the 5th round. It is described in THE SECRET DOCTRINE as a state that is more permeable where two bodies can pass through each other rather than bounce off each other.
The change in condition for the round puts a damper on the joint existence of recognizable forms from later rounds existing in the earthy state of the 4th round. Yet what we see happening is a more complete range up to the human gaining their own individual form, by the addition of many types of animals that did not exist when dinosaurs did.
When a cyclic evolution is investigated, it would be determined that a new kingdom comes into existence replacing the old kingdom. Plants replace minerals, animals replace plants, humans replace animals, girasas replace humans, and the cycle rather than the similarity of DNA, determines whether or not the being is in a specific kingdom.
Since dinosaurs lived on earth for a period of time prior to humans, they can be seen as existing as a kingdom (animalia) separate from humans. Now humans are existing as a top lifeform deserving of the term kingdom. If there is a chain of existence and they each require a period on earth where they are the sole top achiever, then their decline is accompanied by the increase of the replacement kingdom and it is the interaction between two distinct types of kingdoms that causes rapid growth and change in their constitution and the improvement of their total being simultaneously. The form, mind, emotions of the human would all improve conjointly under the influence of the girasas kingdom because we attempt to exist as they do and reach the heights that they exhibit to us. We envision ourselves in their shoes and quite literally the two distinct lives would for a time occupy the same "feet".