I have not managed to access the menu items using Selenium other than by clicking the menu, and scrolling through the items using up and down arrows through selenium.
I used OpenScript in order to record/playback the test, and it has worked. In my particular case, the website I was using required a flag to be set to make it testable. If you're encountering problems with testing a website, you might need to contact the developers and ask whether an "automation" flag has been set.