Example files for the current version of Kangaroo can be found here:
https://github.com/Dan-Piker/Kangaroo-examples
In particular the SolidParticleCollide one from here is relevant:
https://github.com/Dan-Piker/Kangaroo-examples/tree/master/collisions_and_packing
This does collision between particles and a fixed solid, and between each other. If you have multiple spheres of the same radius you want to collide with the solid, you can offset the surface by this radius, so that the surfaces of the spheres end up touching the surface, instead of their centres.
If you have spheres of different radii, you can use the example here:
https://discourse.mcneel.com/t/sphere-packing/73943/5?u=danielpiker
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