Are caterpillars soft?
Yes, caterpillars are soft. In fact, they are so soft that they have to be careful to protect themselves from the weather and predators. Caterpillars are soft for a reason. Its body has no bones so it’s easy for them to change its shape when they need to. Like if they need to hide from predators or if they need to blend in with their surroundings.

There are many different kinds of caterpillars. Most of them use their soft bodies as camouflage. Some of them blend in with the leaves of plants on which they live. Other caterpillars blend in with tree bark or other objects in their environment.
Are caterpillars soft-bodied?
Caterpillars tend to be soft-bodied, and although some are hairy or spiky in appearance, most are not dangerous to humans or pets. In fact, many species are so small that they are almost unnoticeable to humans. Some species with long, thick hair or spikes can cause irritation to the skin if touched.
Are all caterpillars smooth to touch?
Most caterpillars are not smooth. Many caterpillars have spiky hair. Some caterpillars sting and some caterpillars taste bad. Caterpillars have hair on their bodies to protect them from predators. If a predator touches the caterpillar, it feels uncomfortable and leaves the caterpillar alone.
Some caterpillars have hair that is soft and some are very hairy. Some caterpillars have very long hair and some do not. Caterpillars can be very colorful or dull colors. The colors make them hard to see for predators in the wild.
As you can see, most caterpillars are pretty soft and they must be careful to protect themselves from the weather and predators. By changing their shape when they need to, the caterpillars are able to use their bodies so that they can blend in with their surroundings.