A fully rigged catepillar i made for my project.
The blend file has all the textures, materials and rig in it and ready to render.
The rig uses bendy bones and the caterpillar segments inflate while you squeeze the rig. That gives you the natural behavior of the animal. Also i put the tension disp map for wrinkles, when you squeeze it. The displacement modifier is all set and done, you only need to activate the tension map addon.
For other software i put the set of textures and obj for the mesh.