Court Proceedings: How Can I Get My Child Back

My question involves guardianship in the State of: Iowa. My mother was granted temporary guardianship of my daughter about a year ago. I have done everything the judge has required me to do, however Department of Human Services was ordered involved in the case to work towards reunification and they aren't doing anything to work towards that. They won't allow my daughter and I to attend counseling together, they won't let her come to my home, it's like I'm a crminal. My daughter was taken from me because I was in an abusive marriage and my ex husband moved us around a lot. I don't want to lose my daughter and I can't seem to get a straight answer or help from anyone!