nice shots! most species are difficult to identify from the caterpillar alone ... but with this one we're in luck. Their caterpillars are distinctive ... this is a mature one, probably not far off pupating. If you have an interest, I'd recommend collecting it and raising it through to see the pupa and the butterfly when it emerges. Even the pupa is impressive, and the butterfly is truly spectacular! Plus, you could cross-check the species ID.
Yes, and the interesting thing is that they're not antennae - it's a special, forked organ used in defence. Other species in this family also use the same trick. The sudden extension of the 'osmeterium' probably looks intimidating to may predators, plus it releases a repulsive chemical. For this species, it's probably a citrus-derived acid.
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