How can I withdraw a post divorce petition for property, alimony, child support?

My ex called it harment that I brought this petition after he divorced me in another country, Canada, where you can get a desk divorce with no settlement. It's got to the point now here in the USA where there's an 'agreement' from judicial mediation. I realise I've made a terrible mistake in asking him for any money, and I want to withdraw my petition. How can I do this? He's got a restraining order against me (and tried to get one against the kids too) so I can't tell him I want to withdraw it and let him keep everything. I feel dirtied by the idea of taking anything from him. He said he was an ATM and I don't want him to be demeaned like that. He doesn't want to see the children at all. He needs his money for a new family and I don't want to make him unhappy. What is the procedure for withdrawing a petition and how do I do it? Am I too late? I can't afford the settlement the court suggested and would be better off without it. I want to get fully out of his life, and the children do too, he really seems to hate us and I feel uneasy to take anything from him when he detests us all so much.