rolling a robot: kangaroo, firefly, arduino, tensegrity structure

hi all,

Im trying to simulate a tensegrity robot. I want to basically set it up to walk to a roaming point (perhaps a person, or another robot) on its own.

I have tried to use nearest point to activate the vertices that should "roll", this will be achieved by overbalancing the robot and turning on electromagnets (i am just prototyping with a metal sheet as the floor to try to simplify this at this stage). 

So my main issue that i am having at this stage is to "update" load points in kangaroo. when i change which point should roll, it fails kangaroo. 

I also tried running through hoopsnake but no luck there...

if anyone has any suggestions or recommendations, please let me know!

thanks,

Harry

(FYI - the first file is the more simple, without extending the struts, the second is with extending the struts but completely fails in kangaroo, so it will just be for records rather than commanding the arduino)