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Found this, but none of the insects look like the one you posted....
http://jnkvv.nic.in/IPM Project/insect-pigeonpea.html
just look at it closely dosent it look like a baby caterpillar
actually im pretty shure it is we have tons of those around here but i wouldnt feed it to a chameleon without knowing if it is safe first but im not entirely sure of what it is so to be safe you shouldnt use them right now.