I don't think so. The state would have had to do something about it, Venus is a missing person and the grandparents had no legal standing, that left the children in limbo as far as the law was concerned. They couldn't have allowed that situation to continue indefinitely. Also, because of the implicit allegations against the father it would be foolish to allow him custody at this point, so the state needs to act on behalf of the children.
Given the contentious nature of the current relationship between the father and the grandparents I think having the state assume tempory guardianship of the kids until all of this is resolved wouldn't be a bad thing, at the very least it would force the parties involved to at least be civil to each other in the presence of the children (because it sure as hell doesn't look like that is happening right now).