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(A) Experimental printing setup. (B) Chemical structures of the precursor monomers for the hydrogel system. (C) Photographic images of actual printed 3D theater viewed from two different angles. (D) Printed 4D object with additional active shape changing capability. (E) Chemical structures of the wax-based precursor monomers. (F,G) Shape memory demonstration of a gradient helix and a tulip flower. All scale bars are 1 cm. Adapted with permission from [14].
