*sensitive trigger* Child sexual abuse

I have a question, headed into court in the next couple of days. Need to know what you would do. Here is a quick overview.

Two boys same age started at 5 who are cousins.

Very vindictive, brainwashed family on the fathers side of the victim.

Sexual abuse started to occur in the grandparents home when the boys were 5 years old. The perp was making the other 5 year old “lick” his penis and doing the same to the other child. The grandparents knew of the behavior that was happening and still allowed the children to play alone upstairs in their house. Neither set of parents were present when any of the incidents happen over the course of a year to a year and half.

The father of the victim tried to hide this from the mother of the victim as they coparent to protect his family and parents.

The mother of the victim has been going to court for months over this situation trying to protect her child. The mother has “won” that the children are to never be allowed near each other for any reason. She is now at the next step of asking for supervised visits for the victim while around the grandparents. As they knew of the behavior and did nothing, mother feels it’s i the best interest of the child to always be with his father on his scheduled visitation.

What your your intake on the last step? Is It going to far? Is the mother correct for asking this to be in the custody agreement?

Please help! Personal opinions and professional opinions requested.