It does sound like you and this woman are not compatible as friends and were pushed together because both of your mothers were friends. That happens quite frequently with children all the time.

I don't think you need to file a restraining order against her. I do think you need to take into consideration that your friend just had two babies and is probably physically and mentally exhausted which is normal for new mothers. It does seem like you don't really like her to begin with. I would talk with your therapist more about how to deal with this awkward situation. Perhaps distancing yourself from this woman is what you need to do, and hopefully your mother will understand and support it despite her friendship with the friend and her mother.