For 360 version - Use a second account (that can save progress to hard drive) to get enough points so that both players have the invincibility cheat. Replay the mission until you beat it with neither player dying from missing a jump to the sabotage droids.
For PC version - Same as 360 version, except there is no way to save player #2's progress, so you must get 100,000 points, buy the cheat, and beat Kul Teska all in one sitting, and without player #2 dropping out. If you exit the game, the game crashes, your computer turns off, or player #2 drops out (exit mission via menu instead of completing it OR push the Backspace key), player #2's points disappear and you have to start collecting points again.
I did it by playing Alzoc III Mission #4 because it is a short mission and there is a Droid Demolition challenge at the end. Play as player #2, get to and start the Droid Demolition challenge because you can just force push all the battle droids to their doom. As soon as you have 20,000 points, purchase the Combo Bar cheat because this gives about a 3X multiplier. Now you just need 33,334 more points to get the 100,000 points needed for invincibility. Once you have the points, finish the mission and immediately go to Behpour #9. As soon as the mission starts, go in and turn on the Invincibility for each player. Now just take your time and finish the mission making sure neither player jumps off the edge and dies. It took me 25 minutes to get the points needed for Invincibility and another 5 minutes to beat Kul Teska.