It's a Caterpillar, don't know what type of moth / butterfly it's from so get rid or it will move off to become a butterfly and than back to lay more eggs that hatch out to the picture you show and the whole cycle will start all over again, you don't have to kill it, maybe pop in a jar and take it a walk to the countryside, OR do as I do, remove the insect and it's other family members as if you have one, there are bound to be many more, I fill a tray with them and some seed food from kitchen and put this out for the birds, they love this and will reward you by searching out the other bugs that eat your plants.
Good luck. WeeNel.
I only found the one, even after looking very carefully thru out all the plants.
poured some alcohol( didnt have any bug killer that day) on it which killed it pretty quick.
I did get some organic pesticide and sprayed everything just in case i did miss something.
To add to what WeeNel said: Black wasps will pick-up small caterpillars and feed them to their young. This might have been why you could not find other caterpillars, Easybake. Either birds or wasps had already eaten them.
There is an biological pesticide specific to caterpillars. It is a bacteria that only attacks caterpillars. Best applied when they are very small, because they need to eat the leaf that has been sprayed to ingest the bacteria. Obviously if the caterpillar is very large, it will have to eat several leaves or chew holes in the fruit to get enough of the bacteria in its system.
The bacteria is sold under many product names, but read the active ingredients. Bacillus thuringiensis. There are several strains of this bacteria, some are more effective on mosquitoes, so make sure the package specifies that the target is caterpillars.