New Zealand Law
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I am a New Zealand based lawyer so can help
The lawyer is correct about costs as if this woman has a grant of legal aid you cannot get costs against her. I am unsure why the part of the order in relation to the course cannot be removed by consent. Otherwise the undertaking seems a sensible approach, as the costs of the defended hearing would be pretty high.
I suggest you ask the lawyer if it is possible to get the judge to remove the condition about the course, if that is the main obstacle, I think your lawyer is trying to help you get rid of the orders in a practical way rather than spend a large amount on fees for a defended hearing. But if you want to defend, then of course you can still do so.