SAN FRANCISCO — 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.

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.

“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.

The contents of the documents were first reported by the New York Times.

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.

“This is not ugly,” he said. “I would not say this is anticipated to be a highly contested proceeding.”

Williams died at his Tiburon home in August.