Yep, YABU.
I think your 'compromise' is, too.
It really says to me, 'You're good enough to do the grunt work, now piss off.'
Have them come round the next day with your DD.
I have a son, if he marries someone as precious as you are, he can count on not having me around much. 'Do our dirty work, but wifey thinks you're not good enough otherwise (too loud, OTT, what have you), so we'll be limiting time with your grandchild.'
You must think they're really stupid not to see through that act! They'd have to be morons not to pick up on that, which they're not.
I'll know if he's been coached, too.
I'd never infringe on my DIL after she has a baby. I have two daughters as well.
But at the same time, it's pretty rude to accept their offer of help and then put up all sorts of rules about seeing their grandchild.
Which is why if my son marries and his wife has children, I won't be offering to help with his kids - she can get her own mother in to deal with it.