Caterpillar of Phocoderma velutina
Possibly the Caterpillar of Phocoderma velutina, it was already quite large size, around 4-5 cm.
Seen during a night walk by chance, as I didn't see it but accidentally brushed a branch which makes it fell down but as it fell down, it touched my leg and even though through my pants, I felt a sharp sting.
Phocoderma velutina is a species of Limacodid Moth from the family of Limacodidae. The species Phocoderma velutina is the largest Bornean limacodid with a distinctively patterned purplish brown-black forewing.