Can We Have Mentally Ill Family Member Institutionalized Long Term?

Not sure which one this should be flaired under, sorry. Basically I have a close family member who has been homeless in the state of California for nearly ten years. She has severe bipolar disorder with psychosis. She will not take medication because she no longer believes herself to be ill. She had a baby a little over a year ago on the street(long story but basically a bystander called 911 after seeing her pull a baby out of her pants) Her baby was in foster care before being placed in protected care of family in another state while we await her parental rights to be terminated. She is not well enough to parent and refuses to do any of the things socials workers have told her she needs to do to retain custody of her child. She can’t keep a schedule, loses things constantly and frankly doesn’t know what’s going on half the time. However, because she bathes and feeds herself, we’ve been told in the past by lawyers there’s nothing we can do to involuntarily hold her.

We have recently learned that she is claiming she is pregnant again with her “boyfriend”(who is also homeless and mentally ill/on drugs). She thinks she can have the baby on the street and live with her baby while homeless and unmedicated, that’s how out of touch with reality she is. My question is, does constantly getting pregnant and having kids and refusing to be on medication count as not taking care of herself or endangering herself/others? Is it possible to have her institutionalized now?

Location: California, USA