If the kids are not in danger the kids might be taken off the restraining order but they'll ask for alternative ways for the transfer of custody for parenting time. The easy way is to do it at daycare or school. You drop them off, he picks them up & visa versa. The next safest is probably doing the trasnfer at a police station, but this is probably your last resort because it's kind of awful for the kids to have to go to the police just for change of parenting time from Mom to Dad & back again.

I've known people to take the kids to a public place like the Mall or McDonalds, leave them in the play area & stand aside while the other parent picks up the kids. And one friend who has negotiated that he drives up to the house, the older child picks up the youngest child, and the middle two hold hands as they leave their mother's house, then the older child opens the car door so that they can all get in & buckled without him having to get out of the car. It's crazy, but this is the only way they both felt safe from each other, from each other's nasty accusations, etc. They worked it out in court with a mediator.

The other thing, if the kids are in danger & they are still on the order of protection, the family court should alter the parenting plan so that the parenting time takes place only with counseling & professional supervision, which he will ahve to pay for. I have one friend who did this, and it worked out really well.