I guess my biggest question is.. what do you want?
At the beginning of your post, you specifically discuss this as being a co-parenting issue. Why do you want to co-parent with him, rather than parallel-parent?
How is the relationship between the two of you negatively affecting the co-parenting? How do you WANT the co-parenting to look like?
Or...
Is this really about the R with the father of your child?