I would suggest going into court to modify the current visitation order. I strongly suggest that you consult with a local attorney who can advise you on how to proceed. Good luck.
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You don't have grounds to seek a restraining order except if he directly harmed or physically abused the children. However, a harmful environment at mom's is certainly grounds for modifying placement. You should consult with an experienced family lawyer who can review all of the facts and give you an opinion as to what you should do.
I agree with the other responses, you should file a Motion to Modify the Placement (custody) of the children. We offer low initial starting fees and free phone consultations.
Attorney Laura A. Stack
DAVISON LAW OFFICES
633 W. Wisconsin Ave.
Milwaukee, WI 53203
Tel: (414) 272-1005
Fax: (414) 272-1049