I saw it on my snow pea plant today. I’ve not noticed any caterpillars on my pea plants before, and I’m out there daily looking for peas to pick.
Edited: I’ve taken a few more photos today in the bright light as it was getting dark last night. It’s eaten a fair bit and stayed on through a rainstorm. It has two black bumps on its back.
Wish I had gotten more photos of this plant. Sometimes the obvious isn’t so obvious. There were two bees that stayed on the plant and I wanted to list it as possibly an associated host but I’m not clear on what it was. I’m going to post the bee pictures separately.