Biological Grandparent Wants Written Visitation Plan To See Child We Adopted

Hi everyone.
Thanks in advance for reading my post and any advice is greatly appreciated
My partner and I (NY) adopted our child. Baby’s biological grandparent wants a signed agreement for visitation. My partner and I absolutely do not want this. We have texted and occasionally FaceTimed to keep the peace, but we have been told by other family that grandparent has mental health issues and we would personally not feel our child is safe with them based on how our conversations have gone.
Our concern is if we don’t agree to a formal visitation plan they would sue and it would fall to a judge’s discretion. Grandparent also has our child’s biological sibling in their care through temporary custody and we worry a judge would agree with grandparent’s request based on that fact. And based on how they have spoken to us, we think they can be very manipulative and convince others that they are of sound mind and just wants a relationship with us.
Does anyone have experience in situations like this? Based on our experiences with grandparent we think there are valid reasons that they should not be granted visitation, but we are worried a judge could see otherwise.
I think grandparent would have to sue in NY since that is our home state. Is this correct? Can a judge force us to travel out of state for visits and also allow visits to be unsupervised if they were granted?
We have already told grandparent that we would agree to visit occasionally (maybe once a year), but we do not want to agree to anything in writing. We are speaking to an attorney next week but this whole situation has us feeling very anxious so I instinctively jumped to Reddit for help.
Thank you again!
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