Legal Question in Family Law in Texas

Modification of orders

I need to know the best way of getting full custody of my son. My child will be 3 next month and has lived with his grandmother since birth, due to me being in jail. 45 days before I was released, grandmother brought a custody suit against me. We have had orders drawn up and mediation allowing me Joint Custody (standard visititation/cs). Now we are going to mediation in a month. I have a stable job, pay my cs, put myself in a rehab for 7mths once I was released from jail. Mediation is set b/c the father was just released on parole and he has NO access to child. Grandmother tells me that she will let child live with me once he says he wants to. It isnt up to her...is it? I need to know the best strategy for mediation. I pretty much know we are not going to agree. I want full custody and she only wants her son to be able to see child. I have everything documented over the last 2 years-the bruises my son has, visitations they have not allowed me due to being out of town, agreements between the two of us (grandmother and I).

Also, we had agreed to keep child on medicaid in grandmother's name & signed papers saying that I should be excused from keeping health insurance on child..will that hold up in court.

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