That looks like my Butterfly Weed(what I thought was anyway)He is a fat little bugger.Looks like he is enjoyi that plant little flower by little flower.Lol
Yes he is enjoying his lunch lol. Left just enough so it wouldn't die. Its a butterfly plaint called Scarlet milkweed.
Gosh with all the bugs and grubs munching on your scarlet milkweed it's a wonder you have any left. Looks as though your caterpillar is about ready to pupate. :-D
Mine of a couple weeks ago are now flying around and completely new caterpillars are defoliating my butterfly weed. Nifty. New sprouts are coming up tho.