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Phocoderma cf velutina
Caterpillar of possibly Phocoderma velutina, a Limacodid Moth. This Moth is the largest Borneon Limacodid.
Seen during a night walk by chance, as I didn't see it but accidentally brushed a branch which makes it fell down but as it fell down, it touched my leg and even though through my pants, I felt a sharp sting.