Guaibasaurus was originally named on the basis of the holotype, MCN PV2355, a well-preserved partial postcranial skeleton and the paratype, MCN PV2356, an articulated and nearly complete left hindlimb, which were discovered in the "Sesmaria do Pinhal 2" locality near Candelária, Rio Grande do Sul, in Brazil, in the geopark of Paleorrota.
WNT2B and WNT8C stabilize this FGF10 expression in the forelimb and hindlimb, respectively.