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No, usually that counseling is just a reaffirmation that they need to work together and be reasonable in their demands on the child and with each other. That counselor can be asked to come into court and give an opinion on the matter. But the crux is the child custody evaluation - that's the report that the judge really looks at and goes along with.
Usually the judge wants anything and everything done when dealing with child custody - they want to be able to point the finger at someone as to why they made the decision they did.
Most likely the judge will mandate that both counseling and child evaluation be done.