Charlie Sheen's twin boys, Bob and Max, spent a beautiful spring day at the park with their nanny on Monday.

Last week, Sheen took his ex Brooke Mueller to court to try and get full custody of his twins in the wake of news that Mueller had refused to take a court mandated drug test.

After the judge ruled that the custody agreement would remained unchanged (which meant Mueller gets significantly more time with the boys, everyone from Charlie's other ex Denise Richards and Brooke's parents offering to help out with the boys.

But from the looks of them playing at the park, they couldn't be happier!