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This article deals with the synthesis of plant oil-based shape memory materials from epoxidized soybean oil (ESO) and polycaprolactone (PCL). PolyESO/PCLs were synthesized by an acid-catalyzed curing in the presence of PCL. During the reaction, PCL scarcely reacted with ESO and the crystallinity of the PCL component decreased to form a semi-interpenetrating network structure. The incorporation of the PCL components improved the maximum stress and strain at break of ESO-based network polymer. The polyESO/PCL was gradually degraded by Pseudomonas cepasia lipase. Furthermore, the polyESO/PCLs exhibited excellent shape memory properties, and the strain fixity depended on the feed ratio of ESO and PCL. The shape memory-recovery behaviors were repeatedly practicable. The resulting materials are expected to contribute to the development of biodegradable intelligent materials.