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Hard\u2010magnetic soft materials are shown to provide new opportunities for metachronal wave\u2010modulated robotic locomotion by multi\u2010agent active morphing in response to external magnetic fields. However, the design and optimization of such magnetic soft robots can be complex, and the fabrication and magnetization processes are often delicate and time\u2010consuming. Herein, a computational model is developed that integrates granular models into a magnetic\u2013lattice model, both of which are implemented in the highly efficient parallel computing platform large\u2010scale atomic\/molecular massively parallel simulator (LAMMPS). The simulations accurately reproduce the deformation of single cilium, the metachronal wave motion of multiple cilia, and the crawling and rolling locomotion of magnetic cilia soft robots. Furthermore, the simulations provide insight into the spatial and temporal variation of friction forces and trajectories of cilia tips. 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