If the temp order was done ex-parte, weren't you advised of any of the proceedings? It sure sounds to me that the Judge wasn't aware of all of the facts prior to issuing the order, and might not have actually issued it, if he/she had full knowledge.
I believe it would behoove you to file an Order to Show Cause, stipulating that that order was granted based on false testimony, and on an assumption tossed in there by his attorney.
All of the facts are not known to the Judge. You've already stated that there is no history of false allegations, and you are not the one that is bringing this action. You stated that you already have an attorney. You should request your attorney get a hearing before this Judge that signed the order, to make ALL relevant facts known.
I can understand where the Judge wouldn't sign a No-Contact order based on allegations, because there is nothing concrete.
While you might be prohibited from taking the children to a psychologist, is there anything definitive in the wording of that order that prohibits any other non-descriptive social employee from talking to the children, like an investigator from the D.A.'s office?