Robin Williams' wife and children fight over estate

Robin Williams' children and wife have gone to court in a fight over the late comedian's estate.

In papers filed in December in San Francisco Superior Court, Williams' wife, Susan, says some of the late actor's personal items were taken without her permission and asks the court to exclude the contents of the Tiburon home that she shared with Williams from the jewelry, memorabilia and other items Williams said the children should have.

Susan Williams, Robin Williams and Zelda Williams
Jeffrey Mayer | WireImage | Getty Images
Susan Williams, Robin Williams and Zelda Williams

The children, Zachary, Zelda and Cody, counter that Susan Williams is "adding insult to a terrible injury" by trying to change the trust agreement and rob them of the late actor's clothing and other personal items.

Robin Williams' estate plan: Good, but not great

"The Williams' children are heartbroken that Petitioner, Mr. Williams' wife of less than three years, has acted against his wishes by challenging the plans he so carefully made for his estate," attorneys for the children said in court papers.

James Wagstaffe, an attorney for Susan Williams, said Monday that his client was only seeking guidance from the court about the meaning of certain terms in the trust.