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Robin Williams' Family Ends Legal Battle Over Estate

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The ongoing dispute over Robin Williams‘ estate has finally been settled out of court, after his wife, Susan, agreed to drop her petition.

“While it’s hard to speak of this as a win, given it stems from the greatest loss of all, I am deeply grateful to the judge for helping resolve these issues,” said Susan in a statement obtained by PEOPLE. “I can live in peace knowing that my husband s wishes were honored.”

Meredith Bushnell, the attorney for Zachary, Zelda and Cody Williams tells PEOPLE, “The children are relieved to have this behind them.”

The heated legal battle began back in December 2014, when Williams’ widow, Susan Schneider Williams, claimed that she was not receiving enough money from the actor’s estate to maintain the Tiburon, California home she shared with him before his death.

As the case developed, more of Williams’ belongings, including his bicycle collection, awards, watches and family photos, were entered into dispute.

Williams’ children had said that their stepmother was “adding insult to a terrible injury” by trying to change the trust and that they were “heartbroken” that she had “acted against his wishes by challenging the plans he so carefully made for his estate.”

While the terms of the settlement are confidential, lawyers for Susan said in a statement, “Mrs. Williams is able to keep the few emotional items she requested, such as their wedding gifts, selected clothing items, a watch Robin often wore, plus the bike she and her husband bought together on their honeymoon.”

The statement also notes that, “The Williams children will receive the vast majority of the items they demanded, such as more than 50 bikes and over 85 watches, as well as thousands of never-disputed items like Robin Williams’s Academy Award statue.

“With an overall estate estimated at more than $100 million, Mrs. Williams will be receiving only a fraction of the overall estate, representing those funds sufficient to allow her to remain in the home for her lifetime.”

With the petition at an end, Susan adds, “I feel like Robin’s voice has been heard and I can finally grieve in the home we shared together. While it was painful to have truckloads of his belongings removed from our home – it’s the few sentimental items I get to hold onto that mean everything to me. I thank God for this.”