This distinctive-looking species earns its common name for its unusual resemblance to a caterpillar, largely due to its somewhat wrinkled appearance and colour pattern. The long, slender body varies in shade, but usually displays bold alternating bands of dark brown and cream colour, with a paler mid-region and darker ends. The upper tentacles are pale brown, the lower ones greyish, and the sole (underside) of the foot is a slightly translucent cream colour (2)
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