Dental and vision usually falls into that category.
You really should ask your former attorney who prepared your agreement and advised you when you signed it. If you didn't have an attorney, you should hire one, now.
It sounds like you have a poorly crafted agreement with a lot of slippery language. There's not much you can do except to fix the language. So, you need to go back to court to fix your agreement. You should work with an attorney to do this -- you should not try to do this on your own. I suspect that you did not have an attorney when the agreement was created. These types of problems usually manifest themselves in agreements where the parties represented themselves. An experienced attorney...
To get away from a judge that may not see the case so favorably for your husband. Your husband obviously has an experienced attorney -- experienced enough to know which judges to avoid with particular cases. You need an experienced attorney, too.
Your post is pretty confusing. You say he "was barely involved from the beginning;" but then say the child spend time with both parents 50/50. It seems he's just as involved in the child's life as you are. What gives?
You say your kid is crying because she doesn't want to go to his house, "but he makes her." DO you have ANY authority in this relationship? Do you have any responsibility as a parent to address these issues?
You need help. Call a lawyer.