This PDF file includes:

• section S1. Thermomechanical properties of polymers
  
• section S2. Additional results
  
• section S3. Geometry of printed samples
  
• section S4. Modeling and simulation
  
• fig. S1. Thermomechanical properties of elastomer (TangoBlack+) and glassy polymer SMP (VeroClear) as determined by DMA.
  
• fig. S2. Contribution in overall curvature from CTE mismatch strain and built-in compressive strain.
  
• fig. S3. A lattice structure (dimensions in mm) printed in an open configuration and then deployed into a compact configuration upon heating.
  
• fig. S4. Design of the printed sample in Fig. 3A.
  
• fig. S5. Design of the printed sample in Fig. 3B.
  
• fig. S6. Design of the printed sample in Fig. 3C.
  
• fig. S7. Design of the printed sample in Fig. 4A.
  
• fig. S8. Design of the printed sample in Fig. 4B.
  
• fig. S9. Design of the printed sample in Fig. 4C.
  
• fig. S10. Design of the printed sample in fig. S3.
  
• table S1. List of parameters for constitutive model.

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