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You cannot just ignore a court order, which you actually have a legal basis to get changed. If you simply say his conduct of leaving the children is unsafe, which it is, and refuse to bring the children and honor the order, then you are in contempt of the court order. However, if you file a motion for an order to show cause for contempt of court in the court that issued the order and ask the court to rescind the order based on him not actually being with the children and leaving them in a dangerous situation and you present evidence of his conduct, the court will change the order and remove the visitation from him or will impose supervised visitation.
However, YOU have to take him to court to change the order based on his dangerous conduct. You cannot just ignore the order, even though you have a good reason to get the court to change it.