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By leveraging on such unique abilities, MMRs have great prospects to transform robotics, biomedicine, and materials science. As having high dexterity is critical for MMRs to enable their targeted applications, existing MMRs have developed numerous soft\u2010bodied gaits to locomote in various environments. However, there exist two critical limitations that have severely restricted their dexterity: 1) MMRs capable of multimodal soft\u2010bodied locomotion have only demonstrated five\u2010degrees\u2010of\u2010freedom (five\u2010DOF) motions because the sixth\u2010DOF rotation about their net magnetic moment axis is uncontrollable; 2) six\u2010DOF MMRs have only realized one mode of soft\u2010bodied, swimming locomotion. Herein, a six\u2010DOF MMR is proposed that can execute seven modes of soft\u2010bodied locomotion and perform 3D pick\u2010and\u2010place operations. By optimizing its harmonic magnetization profile, the MMR can produce 1.41\u201363.9\u2010fold larger sixth\u2010DOF torque than existing MMRs with similar profiles, without compromising their traditional five\u2010DOF actuation capabilities. The proposed MMR demonstrates unprecedented dexterity: it can jump through narrow slots to reach higher grounds; use precise orientation control to roll, two\u2010anchor crawl, and swim across tight openings with strict shape constraints; and perform undulating crawling across three different planes in convoluted channels. 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