FYI, I had the same type of relationship with my dad as you have..
I completely Understand how you feel. It is so frustrating that everybody else does as you ask (you are a nurse and the mom) for goodness sakes, why can't they?
Here is what happened with my dad and his wife,. They wanted to be at the Baptism of our daughter.. they also are Catholic so they wanted it done as soon as possible. This is not what my husband and I had planned. We told them this. They came over one afternoon, and said they wanted to take the baby outside for photos. My husband and I were preparing lunch. Apparently the moment they got outside, they Baptized our daughter with holy water on their own! I was furious! I told them it would take a long time before I would EVER trust them to be alone with our child.
Of course once I calmed down, I realized why they felt this was so important and that overall they did not harm, but it still makes me mad, that they went past me and my husbands parenting wishes.
That being said, I really have to also agree with Cash, in the overall situation, they did think they felt your daughter needed something a little different.They wanted to help. It did not hurt your daughter over all. Take a breath. give it a few days. They want to be grandparents, they are doing what they did as parents.
When you get a chance just write down how it made you feel.
Then speak with them calmly and let them know in the future, if they do not follow your instructions, you will not feel comfortable in them watching daughter without you or your boyfriend also being there.
I am sending you peace.