Visitation To Irresponsible Person

I m living with my parents since I was 2 months pregnant. Husband knowing that I was pregnant didn't take any responsibility. Now he filed RCR and asking 11 months old baby girl visitation stating that we have hided things that's why he couldn't take responsibility which is completely lie. That too he s asking visitation for twice a week along with his parents. He has no good relationship with me, my parents or any of my close relatives or friends. I have already filled DV along with incidents with dates against him and his parents. They have bad intensions of not allowing me peacefully. His parents are misleading him to take my daughter away from me so as to satisfy their grudge. Don't my baby has right to live happily? She is my only hope. Her well-being is my at most priority. But everyone is taking about his rights. What can be done here?