This deliverable (D1.15 – Final Project Report) provides a comprehensive overview of the main scientific and technological outcomes achieved throughout the MAPWORMS project, integrating results across disciplines and work packages. The document is structured to reflect the logical progression of the research activities. Section 2 presents the comprehensive anatomical and morphological characterization of the selected biological model. Section 3 focuses on the mechanical analyses and behavioral experiments of the selected biological model related to burrowing and interaction with structured environments, followed by modelling of annelid-inspired shape morphing, including peristaltic locomotion mechanisms in unsegmented worms, as well as the mechanical behavior of biological tissues and how these play a key role in driving the eversion mechanism of Sipuncula worms. Section 4 addresses the design and implementation of shape-morphing soft robotic systems, detailing the different robotic platforms developed within the project, including stimuli-responsive hydrogel-based materials and magnetically responsive systems, together with their actuation strategies and functional performance. Finally, Section 5 summarizes the project's main conclusions, highlighting its key achievements, limitations, and future perspectives.