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Narnia femorata
Cactus
A fascinating bug.. Note the bumps on its hindlegs.
Hi Joshua - I don't have a full species ID for you, but I do think that your insect is a "Leaf-footed Bug" belonging to the genus "Acanthocephala". You can write that as "Acanthocephala sp." if you don't find a full ID.
Also, here's a website with some pictures of agave bugs, leaf-footed bugs, and assassin bugs to help you separate between them if you find more similar bugs.
http://colinlmiller.com/wildlife/hemipte...
You might also consider adding this picture to the mission "True Bugs of California and its Neighboring States". Leaf-footed bugs are true bugs (hemiptera with sucking mouthparts) so it qualifies for that mission.
"http://www.projectnoah.org/missions/132516012"