Last Friday, a Los Angeles judge agreed to give visitation rights to Sheen so that he may see his two daughters during supervised visits.
Previously a judge had ordered the actor to stay at least 300 yards away from his ex-wife and their two children, Lola, 10 months, and Sam, 2.
The couple has now agreed that Sheen can see the children weekly until a psychological evaluation can determine the best custody situation for the family.
Richards, 35, filed for a divorce from Sheen for the second time in January.