I now know this mystery bug is a Predator Stink Bug. From what I have been reading, regular stink bugs are bad but Predator Stink Bugs are good. Regular stink bugs suck the fluids out of fruit damaging it, just like the predator is doing to the caterpillar in the video. The stink bug to the right is definitely a good predator since it's sucking the fluids out of an armyworm caterpillar (my guess after research) which is bad for crops. At first I felt bad for this caterpillar but after reading about it, guess I'm glad the Predator Stink Bug is doing what it is created to do. Its purpose is to help us humans have enough food, protecting our crops by killing pests.
For more info check out these links: