I was working on a looping structure, and it has to be transformable, which means that the simulation has to be able to control the rotation of each nodes of the loop structure. But the constrain is the length of each segment has to stay in same length for now. Is there any way that I can have this kind of Chain system with Kangaroo. With my definition, I sort of get what I want, but not exactly precise. Or what I want is just not possible because I didn't define the relation between each neighboring nodes. 

Please see the attached file so to see what I meant. 

Thanks for anyone who answer the question in advance.