How do I get my child back?

My husband got laid off from his job, we lost everything. On March 08, 2016, my husband and I became without a home, I contacted my aunt to see if my little girl could stay with them for roughly 3 weeks so my husband and I could tough it out and save money. My aunt couldn't do it because she has no form of identification, so her daughter, my cousin did it. We were led to believe that temporary guardianship was just for the guardian to seek medical care and register my child in daycare. We signed the papers on March 14, 2016. We have been told by the same judge who handled the case that we completely gave up our child in terms of parental rights and sole custody. My cousin is refusing to sign the papers, knowing we have a home with plenty of food and vehicles. I try to babysit while she is working, come over everyday, I have spoken with her about signing the petition to terminate that I filed. She won't do any of that, or tell me where my child is at any time.