Some caterpillar or other on my lawn chair

I have never been able to connect caterpillars to the moths and butterflies
they become, so I have no idea what this pretty one is.

And it is only in my seventh decade of life that I have even heard that
some caterpillars can cause skin rashes. I've been picking them up all my
life.

I didn't pick this one up, partly because I've now been spooked. :)