Charle Sheen, Brooke Mueller, Denise Richards

Jon Kopaloff/Getty Images, I: Larry Busacca/Getty Images

Talk about adventures in babysitting.

Denise Richards reached out to Charlie Sheen last week, offering to take care of his and Brooke Mueller's twins, a source confirms.

And this wasn't the first time...

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The source said Richards has repeatedly talked to Charlie about taking in Bob and Max.

"Denise feels horrible for the twins," the source said. "She told him if he needed help with the kids, she's here for them. She thought their grandparents would have stepped in and asked the courts for custody, but they haven't.

"It would be great if Brooke's mom or Charlie's dad showed up in court today to fight for the kids, but she doesn't think that's going to happen," the source continued.

Richards also wouldn't mind if her and Sheen's daughters, Lola, 5, and Sam, 7, had the chance to get to know their 2-year-old half-brothers.

While Sheen apparently told Richards he would get back to her, I'm told she's not holding her breath.

"He's going to go all the way with this, even if it's just to prove his point," the source said. "Brooke's in no shape to take care of the kids, either, and Charlie knows that. He wants the twins on the road with him."

VIDEO: In much happier news, did you hear who celebrated their birthdays this weekend?

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