Here is a picture of Bagpuss at work
and here is Bagpuss with Peter Firmin's child (who introduced the show), in a BBC promo picture.
Peter Firmin and his wife still live at the farmhouse in Blean near Canterbury, where they created children's shows, and wrote and illustrated children's books. His wife Joan, had been a bookbinder when they married. They have a total of six daughters and according to Wikipedia, most of the children have careers in art:
Charlotte is an illustrator;
Hannah, does book jacket illustrations (like those for Alexander McCall Smith's The No. 1 Ladies' Detective Agency books)
Josie, manages hand-painted china shops in London and Canterbury
Katy works for a farmers' cooperative
Lucy is a pattern-cutter for fashion houses in Italy
Emily, whose picture is above, is now a papier mache artist and printmaker
And here is the co-creator of Bagpuss recently.