Looks like a hairy caterpillar possibly from Nolinae had a wasp parasitoid. Did it have a multiple head capsule like U. lugens? I cannot tell from the photos.
I think I only see a single head capsule so this is probably not Uraba. Nolinae has very hairy caterpillars like this. The other subfamilies in Nolidae do not, so I think that this should be listed as Nolinae immature rather than Nolidae.
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