Possibly larva of a Spilosoma sp. moth. Feeding on a Senecio plants in the forest. Quite a few in the area. Five pairs of prolegs (non-jointed) and 3 pairs of true (jointed) legs near its head - Caterpillars only have 6 (true) legs like all insects!
Butterfly was flying from flower to flower on the one plant, hovering with wings flapping rapidly while feeding, then moving on to the next plant. Flowers didn't appear to trigger. A few butterflies were seen doing this. Host plant here will be Tasmannia xerophila which is plentiful.