L. - I answered your other question with a bunch of information from my training as a foster parent.
"normal" rules about visitation don't apply here. Your state has GUIDELINES and laws on what to do if the bio parent doesn't show.... how long you wait... if it's rescheduled or cancelled, etc. I urge you to document the facts and call your daughter's caseworker for clarification on the rights of the bio parents and what will happen to you if you don't honor those rights. YOU can be in trouble. You don't have the same power as a mom with a divorced husband.... this is a completely different situation.
I know that it is frustrating. That's why there are so very few foster parents.
But you don't have to do this alone. You should be eligible for PRIDE training - which will help provide these guidelines and answer many of your questions about how and what will help your daughter adjust and how and what will help YOU and your husband navigate this frustrating time.
Instead of just a lawyer - you should have a TEAM of people to reach out to..... lawyer, guardian ad litem, social worker, case worker, etc. You should be having meetings with them every 6 months. Find out what all your resources are and USE THEM to help you support your daughter.
Good Luck.