Upon a petition by a parent or guardian under section 260C.141, subdivision 1, regarding a child in voluntary foster care for treatment under this chapter, the court may find that the child’s needs are not being met, in which case the court shall order the social services agency or the parents to take whatever action is necessary and feasible to meet the child’s needs, including, when appropriate, the provision by the social services agency of services to the parents which would enable the child to live at home.