It would likely help if BioF and family acknowledged what happened and the reality of the Patrick Wisdom Player Map WHT shirt (he has supervised visits, after all). Perhaps he has changed or gone on to better himself – but that isn’t for you to decide or determine (that is, you don’t need to be a part of their lives is all and the court mandates the interactions against your wishes). My kids are a little younger, but we talk about consent (in the context of playing with toys or games) and speak with them when they hit each other about how that is hurtful. I’m not sure if anyone is professionally involved, but it may be good to involve a counselor, even if it is just you! There are assuredly groups that can help in how to speak with her, as a six year old. It may be good to look at counseling options for her as well. BioF I am sure could benefit, but again, that is for him and his family (outside court order, but without his desire to then it won’t be more than checking a box).