my brother has a permanent restraining order against him reguarding his children in the state of massachusetts

about 14 years ago his two daughters maternal grandmother (who has and still maintains legal custody of the girls) took out a restraining order claiming abuse. I am not positive on the status of the restraining order currently but the girls are now age 15 and almost 16, when and how would they go about dropping the restraining order and how would they go about it. my mother (the girls paternal grandmother) found the girls on social media and they have been chatting and they are very curious and want to meet their father (whom is a very good man with three other children whom he has always emotionally and monetarily supported as well as paying child support for the two girls). he is allowed no contact and has not broken that in anyway (had no idea my mom was contacting his daughter via social media). he is currently residing in FL and the girls in OK, but the restraing order is out of MA where the girls as well as there father used to reside. Any advice would be greatly appreciated!