rigid body adapt

Hello to all. I'm at the beginning with Kangaroo and it would help me. 
I'm trying to create a panel made up of squares tied to each other along the
 lower edges. What I would like to achieve is a relaxation of the panel on a solid 
without the individual squares deforming. However, single squares can rotate
 between them (both in the x direction and in the y direction) only 0 5 10 and 
20 degrees. I've been searching a lot of material around and I've edited some 
scripts including one of Daniel on the relaxation of a mesh