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Goodenough / Rex Features
The actress is said to be “very happy” after a Los Angeles court allowed three-year-old Sam and two-year-old Lola to be filmed for the series, which follows her life as an actress and single mum in Hollywood.
Her ex-husband Charlie Sheen had refused to give his permission for the girls to be appear on TV, but the judge ruled in Richards' favour.
The decision was subject to a number of conditions, which have not been revealed.
Richards' attorney spoke to the court by telephone, while Sheen attended the hearing with his lawyer.
