Question about Adam's visitation..

I just watched the episode where he has Aubree and Paislee (this is the first time I've noticed they end with the double e) and he took them to an indoor playland type thing. I thought the court said he has supervised visitation, meaning his parents have to be there when he is with Aubree. Whenever he is with her on the show and he's out with her at restaurants and that playland, he's with his buddies and not his parents. Are they in the background asking not to be filmed or does he and his parents not care? If Chelsea takes him back to court, can she use the show as evidence that Adam is not following the judges rules?