I understand this now after more reading and experimenting I found that yes it is related to the range of motion I could get gurdy to stand even when the controllers were not active just by reducing the joint limits thereby reducing the range of movement. By narrowing the limits gurdy was unable to fall because the joints were stuck in a range that prevented them from moving too much which kept gurdy standing. If this is incorrect then correct it or add to it if needed. I mistakenly thought this was a response to my new post regarding an error about the control manager which is missing now so I reposted it. Titled: Error no control manager.
Thanks