Who is your judge? In SJ CA this makes a huge difference. To have the supervised visitation lifted, ask for an emergency screening with family court services. IF they believe that it is still required after a brief investigation. A judge imposing this just for misbehavior in court seems unlikely(unless he held you in contempt)..But there are miscarriages of justice(my ADA was violated by a family court judge). There is the Center for Judicial Excellence in Marin County who look into these problems.
Good Luck
Good Luck