Movie S5: Drug delivery with MR-LF 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 robot has a perforated compartment containing a dye-filled dissolvable capsule.