Legal Question in Family Law in Missouri

Husband and I are involved with children's service because of a

Domestic assault against me over a year ago, we are both following service plans to a t I'm trying to find a loop hole for Husband to be able to be present during labour and delivery without the baby being taken. I do not feel comfortable with my parents being there with me because they have made it clear that they don't want to be there and I don't want to be alone. I don't have the funds to hire a doula. Can they force me to do this without my husband? I know there is a law that unwed fathers have no rights in the delivery room but doesn't he still have as many rights as me off first hand? He's not a danger as far as I'm concerned. But I was forced to get a restraining order, I can get it amended or revised but still can they legal take my newborn because I allow the father to be there? My husband? Let me know if this is breaking any if my rights?

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