What's That Bug? does not endorse extermination

Can you tell me what this is??
Hi there,
Found this caterpillar on our orange tree today. Do you know it? It certainly can sting!! We live in Queensland, Australia.
Many thanks,
Borris

Hi Borris,
We quickly located your Stinging Slug Caterpillar online. Two different scientific names are given: Calcarifera ordinata (Butler, 1886) and Doratiphora colligans. Orange was not listed as a host plant but mimosa, dogwood and rose is.

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What's That Bug? does not endorse extermination

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