Contact order for Adult & Child siblings

My daughter (who is now 18) would like contact with her younger siblings, The mother of my daughters (half) siblings took out a non molestation order out on the my daughter's father for various reasons and has deny any form of contact between him and his children. Any contact was always through her father. My daughter is desperate to have contact with her young siblings (3 &1). I feel that if she were to contact her fathers ex for contact it is likely to use it against her father. Would looking at obtaining a defined contact order the way forward or is there another route that could be taken?

Any advice would be gratefully received

Why doesn't she initially contact their Mother to see what reception she gets?

She may well find that their Mother would be glad of some baby sitting etc.

Unfortunately the mother holds quite alot of resentment and bad feelings towards my daughter because of the relationship she has with her father.