You could file a motion to amend or modify the injunction. The modification could allow for the type of contact you're suggesting. The link below is a a form for a Motion for Modification of Injunction, which should work for your situation.
Legal disclaimer: The answers given are limited to the facts as given and presumed by the answer itself. Without seeing actual written documentation or having a conference to more fully explore the issues, this short answer has only limited application. Make sure to seek legal counsel and provide all documentation to get assistance in making informed legal choices.
Sign up to receive a 5-part series of useful information and advice about child custody law.