My daughter has been around my parents all her life, her mom has been abusing her and doing drugs. Cps has taken her kids away, because of this. My mom would like to get foster custody why her and her husband get straighten out. My daughter is 13 and wants to live with me and my parents. Is there anything that can be done. She knows my parents and wants to know me, as I do. I never signed final adoption papers, does that matter?

How far did the adoption go? Was it made legal by the courts ? Its possible it has been done and your just not aware. An adoption can be forced upon you.

First who adopted ? Was it finalised in court ?

And basically with CPS involved, you and mom need to hire an attorney

If the adoption was finalized, then neither you nor your parents have any rights to the child. So your first task is to find out your exact status. If there was no adoption, then they can apply to foster the kids, if CPS decides to take them away from the mother.