need ADVICE but please NO BASHING!

Ok so my SO and I broke up and we have a 3 month old daughter together. 
Now, I really wouldn't want to keep my daughter away from her dad but he lives with his parents and when we were together and she was born up until we broke up I lived there too which was a few weeks ago.. his parents did things that I was not okay with. It's very unsafe and I know that some parents may do these things with their kids, and that fine but, I however do not... anyways, they put blankets on her while she's sleeping, which I DO NOt do and they will also over dress her causing her to be way extremely warm, and I've caught his dad numerous times sleeping with my daughter in his arms on the couch. (They were both asleep and he was holding her) BIG NO NO for me as I've had a cousin lose a baby from this when her SO fell asleep with their baby in his arms and he suffocated in the pocket of his armpit and THEN he dropped him bc he fell into a deep sleep. :''( As well as having her around a very fiesty, and territorial dog, that has lunged at her before because he's so jealous of her. They're completely oblivious to this.. and they also have tried giving her things to lick on, and by that I mean, if they're eating a pickle they'll put it to my baby's mouth and try and let her lick on it, as well as lollipops, etc... she's 3 months and I DO NOT ALLOW that. I've had to step in numerous times and push things away from my daughters mouth letting them know that she absolutely shouldn't be sucking on anything besides her bottle or pacifier. That's ridiculous to me... as her mom, I don't approve and I highly doubt her pediatrician would approve of that either! She's had constipation issues and I don't want to make it worse, not to mention, I don't like it or think it's ok for her age. 
We had a son before... and we practiced co sleeping because that was the only way he would sleep, and he accidentally suffocated in a blanket while we were sleeping... it was THE MOST DEVASTATING time of my life and it killed a huge part of me. I don't like to go into to much detail about it but bottom line is, this is why I'm very over protective. I'm all for my daughters safety and they would just never listen to me. Since I was there I would always monitor and step in but they would still continuously do it.. they literally don't obeyed by anything I say. They're very ignorant. 
My point is... what do I do?!? I HAVE to give my daughter to him and he doesn't want me around at all when I do, but I am SO concerned for her safety.. Is there anything I can do?! I don't even know where to start if so. It. Makes me sick to stomach just thinking about anything happening to her, and now that we broke up, they definitely aren't going to listen. 
Ps ( I know her dad will leave her with his parents most of the time, he hardly ever spent time with his daughter when she was living with him, I basically had to force it on him but I know he will never give up his rights or anything of the sort cause he says he loves her and his parents would never allow it ) he's 25 btw guys, lol he's VERY immature still, and he'll let his parents do whatever, he always has even when I've told him all my concerns. his priorities are all messed up! 
SOMEONE HELP