Lift either foot, above caterpillar, bring foot down, quickly, and with force. If done properly, there will be a green, slime pile. No Caterpillar. Safe plants. Oh, by the way, tomato plants contain an alkali poison. Which is why for a long time, people thought tomatoes were poisonous. Just the plant, not the fruit. Those little pillars, make good fish bait.
And Eddy is absolute correct about those saddle backs! When I was a kid, a neighbor had a big Arica palm, Betal palm if you wish, anyway, it was loaded with them! Their sting, is like a hot wire being pressed against you! A Bic lighter is great for them.

A bar b que lighter is even better!

Wayne