Charlie Sheen -- Judge Does Not Have Contempt For Him

Charlie Sheen just dodged another bullet -- the judge in his guardianship case decided NOT to hold him in contempt for yapping on TMZ Live.

Charlie violated the gag order the judge imposed by railing on Brooke Mueller, the L.A. County Dept. of Children and Family Services and the judge himself, calling him "dishonorable judge douchebag."

But we've learned there was a private hearing today where Brooke said she had no interest in pushing the issue so the judge gave Charlie a pass,

And more good news for Charlie. The judge said he was going to grant Sheen 2, 2-hour monitored visitations with twins Bob and Max, and assuming DCFS gives him good reviews, Charlie will incrementally get his custody restored to 50/50.

We got video of Brooke as she was leaving court. She was mum on everything.