Your granddaughters would have to be over 18 years old to be able to live with you at Heritage Village. However, there are two non-age restricted condo's called Heritage Crest and Heritage Circle and you'd be able to have them live with you there. Hope that helps!
I actually have a friend that lives up there with her father. I believe as long as they are over 18, it should be okay. The home owner's association can definitely tell you the restrictions. Here is their website: http://heritagevillage.org/contact_us.html
Please let me know if I can help you with anything further.
All condos and HOA's have there own set of rules. I would get in contact with the HOA and find out for sure before you make the purchase and then find out you are not allowed to do this. Hope thsi helps and best of luck to you and your family.