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Darna pallivitta
This is an invasive pest that can cause a nasty sting if touched. As you can see from the edge of the leaf, it has already been hard at work at being 'pesty'.
Thanks AliceGreenup for the ID and advice. I can see why I should avoid them, just from the name... Ah well. It was quite pretty though!
If it is a nettle caterpillar they are poisonous however i think it will just cause pain, i don't think it hurt you too much