Even though CPS and Children's hospital admit I did nothing wrong, will it help me in court that she is unwilling to let me see my daughter?

There is obviously more to the story than related in your brief summary, which makes it impossible to really give you much of an answer, but there is enough for me to suggest that you should probably have the psychological evaluation. As long as you are not jumping through the hoops they set up for you, they are going to use that as a reason to deny you unsupervised visitation or custody. If you have the exam, and it does not indicate that you are a threat to the child, that will be evidence in your favor. As long as you are on supervised visits, you are probably not very close to getting custody. But if supervised visits are offered, you should do them. Not visiting with your child at every opportunity is something that will likely be held against you. You are probably entitled to see the safety plan. Get an attorney to protect your rights. An attorney who is sufficiently persistent will be able to get it for you. Your chances of obtaining custody of your child are likely to be much greater with an attorney as well.