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As in conventional robotic systems, the development of versatile locomotion of soft robots is aided by the integration of hardware design and control with modeling tools that account for their unique mechanics and environmental interactions. Here, a framework for physics\u2010based modeling, motion planning, and control of a fully untethered swimming soft robot is introduced. This framework enables offline co\u2010design in the simulation of robot parameters and gaits to produce effective open\u2010loop behaviors and enables closed\u2010loop planning over motion primitives for feedback control of a frog\u2010inspired soft robot testbed. This pipeline uses a discrete elastic rods (DERs) physics engine that discretizes the soft robot as many stretchable and bendable rods. On hardware, an untethered aquatic soft robot that performs frog\u2010like rowing behaviors is engineered. Hardware validation verifies that the simulation has sufficient accuracy to find the best candidates for sets of parameters offline. 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