Photothermal triggering of shape memory polymers is an appealing non-contact mode of actuation for responsive materials and soft robotics. Such photothermal triggering has already been demonstrated using Au nanospheres or nanorods, and combining them enables wavelength-selective triggering. By increasing the complexity of the materials, soft robots can be designed for advanced functions while using simple architectures. We report shape memory recovery in thermoplastic polyurethane shape memory polymers with embedded Au nanospheres and nanorods using light-emitting diodes with wavelengths of 530 nm and 860 nm matched to their surface plasmon resonances to selectively heat the nanospheres and nanorods, respectively. The concept of wavelength-selective photothermal heating of Au nanoparticles with different surface plasmon resonances could be extended to more than two wavelengths using a series of Au nanorods of different aspect ratios. A wavelength-controlled stage was designed to demonstrate mechanical coupling of the selective photothermal heating of shape memory polymer films with embedded Au nanospheres and nanorods. The sequence of illumination by light-emitting diodes of different wavelengths determines the height and tilt of a wavelength-controlled stage with Au nanospheres and Au nanorods embedded in different legs.