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You cannot on your own modify the order without running the risk of being found in contempt. What I suggest you do is you file a motion for an emergency hearing to modify the visitation due to his bizarre behavior. Also you can file a motion to have him held in contempt for not undergoing the mental health and drug testing. You can ask the court to suspend or modify his visitation rights until he complies with the court's prior order.
If you do believe that he poses an immediate risk of harm to your child, you may want to consider contacting children services and reporting his actions, they may investigate and try to put a safety plan in place if they determine there is merit to your concerns.
I hope that I have answered your question. Please let me know if you have more questions or need more information.
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