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I know that Zonatus is found through Central America according to bugguide.com; there is also the very similar Leptoglossus phyllopus (which we have here in South Florida) but I don't know if it occurs in Costa Rica.
Stinkbug. If picked up will give off offensive odor
Looks like a Leaf-footed Bug (family Coreidae).
Spotted on May 27, 2012 Submitted on Jun 14, 2012