Attempting to work things out through mediation is faster and cheaper than returning to court. It sounds like you are open to trying once more to work something out and there is certainly nothing to loss by trying and much to potentially gain.
If mediation does not work, you will need to return to court but in this type of child issue, the more you can decrease conflict and avoid court, the better.
Disclaimer: This answer does not create an attorney client relationship or constitute legal advice and shall not be relied on as same.
I would request that some type of mediation with family Court services or a trained therapist. If that is refused I would file a motion requesting that the Court assign other persons to supervise the visit. Nothing is question explains the reason for the need for the supervised visits, which would be useful information