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Creating 3D printed structures from materials with shape memory properties allows these structures to change form, modifying configuration or function over time in response to external stimuli such as temperature, light, electrical current, etc. This area of additive manufacturing has come to be known as 4D printing. A variety of geometries have been previously explored in the context of 4D printing, including foldable surfaces (e.g. Origami), lattices, and bio-inspired shapes. However, with advances in solid modeling software tools, more sophisticated spatially- varying lattices are now easily generated to further optimize the mechanical performance and functionality of a 4D printed structure. In this work, complex lattices are created to bend at specific locations with intentionally-reduced stiffness and improved compliance based on locally-reduced strut dimensions. By experimentally demonstrating more complex geometries in the study of 4D printing, new applications can be considered that were not previously possible, with tailored performance allowing for balancing between weight and actuation.