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Unfortunately, the only way to fight CPS on this foster care issue is that you have to go to court as grandparents and file a petition for family guardianship with the court. As you cannot afford a local attorney, you are going to have to go to the local legal aid office and you are going to have to get the court to order CPS to turn the child over to you. Working with CPS is generally useless, as they are the most incompetent, negligent and abusive agency you will ever encounter. Their case workers are overworked and really do not care about what is best for the child, it is easier for them to use foster care than place the child with a family member and supervise that guardianship and that is what they choose to do in most cases.
At this point you need to get a case filed in court and that means going to legal aid and also calling the state bar for the pro bono (free) attorneys in your area who could assist in representing you in court (representation is required for this type of case) and proving his lies in court to get family guardianship over the minor child.