Movie S8: Drug delivery with a modified MR-LF-S design in a compliant, thin-walled tube (ID: 16 mm, wall thickness: 0.05 mm). The robot descends into the water  (36 °C) and delivers blue dye, then climbs back out of the  water on a slope (θ = 8°). The soft compartment is cast around flexible tubing to demonstrate the MR-LF-S with an internal lumen and its potential use to guide continuum devices such as catheters and endoscopes.