Saying his client got "everything she wanted today," Mueller's attorney, Yale Galanter, tells E! News that the couple plan to return to their Los Angeles home.
"Brooke's desire was to get the order modified so they could have contact and communicate because of their children," the attorney said. "Judge Boyd was gracious enough to grant that, and now Charlie and Brooke are on their way back to L.A. to continue their lives."
Sheen and Mueller have not cohabited since a temporary restraining order was put in place following Sheen's arrest for allegedly attacking his wife on Christmas Day.
"We need to give them a chance to be alone and catch up on everything that has happened over the last couple of months," Galanter said. "We'll see what happens."
So far, all we know is that Sheen's camp has to come up with a legal strategy.
The Two and a Half Men star was charged with third-degree assault and criminal mischief, both misdemeanors, and one count of felony menacing today. He's due back in Aspen court for arraignment on March 15.
Galanter told E! that he does not know whether Mueller plans to accompany Sheen to Colorado next month.
"I know based on the comments made in court today, Mr. Sheen is committed to doing counseling, and I know Brooke is doing everything she can to be the best mom she can be," he said.
The couple are parents to twin sons Bob and Max, who will turn 1 the day before daddy's arraignment.
"I know the kids are very well taken care of, better than most," Galanter assured us. "They're only 10 months old but they look great and they're doing great."
As for an inquiry made by child services in L.A. and Aspen, Galanter reiterated, "Those types of investigations when [domestic violence-related] charges come up are very standard, so it's nothing out of the ordinary."
Again, Mueller just wants to piece her life back together.
"This girl has been through hell and back since December 25," Galanter said. "The assault on the 25th, not being able to get the order modified, wisdom teeth surgery, an infection that went into her bloodstream, develops pneumonia, then she just wants to get out and take a couple of days to herself and all these rumors start flying about drug rehab."
Only when Mueller was hospitalized was Sheen allowed to see her.
"She was thrilled to see him," Galanter told E! News. "When someone is as sick as she was, getting the dire prognosis she was, all the support she could get was well-received."
Sheen moved back into their L.A. home to be with the kids after Mueller was released from the hospital and went with her mother to North Carolina to rest up at a secluded treatment facility, prompting speculation that she was rehabbing.
"They did a lot of Pilates, a lot of yoga, massages, ate well," Galanter said. "I think she feels much better; she looks great. She has that healthy glow about her and is doing really well."
Maybe there will be more additions to the Charlie Sheen & Brooke Mueller: Better Days gallery after all.