Hey love! So I find visualising a caterpillar climb as the same as a normal climb - just upside down, really helps!

So, if you bring that top forearm to the pole with your hand in a pistol grip you are then able to straighten your legs and push your upper body away from the pole with that top arm. Your legs should then be in a crucifix position and you should be able to bring the bottom arm up and grip using your forearm & a pistol grip and push your hips up to get you into a caterpillar position. Hope this makes sense! Good luck ❤️

For me personally and this might sound a little weird but I dilute cheap vodka with water (roughly 3-4 oz per 200ml of water) in a spray bottle. I spray a cloth and wipe down the pole with it then spray any crevices/hands/other contact points with it and rub it in until dry 😂