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If that child is not related to you and s/he wasn't adopted so that s/he is related, then you would not have the right to seek custody of that child
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If you are able to prove that the parents are in violation of the court ordered visitation schedule then they may be penalized (including the possibility of being imprisoned) for as long as the contempt continues. Most judges will give them the chance to immediately comply with the aspect they are in violation of. If they can’t or don’t comply a judge will order them to suffer some penalty until they do.
The judge will write an order holding your the other party in contempt and specifying how they can purge themselves of the contempt. The judge may order them to immediately comply or give them a certain amount of time to comply. Some grounds for no jail time are:
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