Rihanna and ASAP Rocky are hands-on parents as they take their kids out on Halloween amid his assault case

Rihanna has proven once again that she is a hands-on mom who doesn't let a nanny do the hard work when it comes to her family.

On Thursday the Diamonds singer was pictured holding onto one of her children after some Halloween celebrations in Los Angeles

The diva from Barbados had on a princess Halloween costume with tulle over a long satin dress as she added kitten heels as she left the Balloon Museum - Let's Fly Los Angeles in the downtown neighborhood of LA.

Her partner, A$AP Rocky was carrying their other child who was swaddled in a red rose print blanket.

Together they have kids RZA, 2, and Riot, 14 months after dating for several years following a decade of friendship.

Meanwhile, in late October a Los Angeles judge invited Rihanna to come to criminal court to support Rocky at his upcoming jury trial for allegedly shooting a former friend and music partner during an argument.

'If she wants to come she can come,' LA Superior Court Judge Mark Arnold told Rocky’s attorney, Joe Tacopina, at a hearing where the trial was delayed - for a third time - till January.

Without using Rihanna’s name, the judge asked Tacopina if ‘the mother of (Rocky’s) two children’ would be attending the trial, which is expected to last between seven to ten days.

This comes after Rihanna said she expects to see lots of people incorporate her lingerie brand into their Halloween outfits.

The 36-year-old pop star has enjoyed huge success with her Savage x Fenty brand, and Rihanna thinks it's the perfect time of year to wear lingerie outside.

Asked if she expects to see people wearing Fenty-branded lingerie at Halloween, Rihanna told PEOPLE: 'I know they will. Halloween is when you get to see the most lingerie outside.'

The singer is planning to wear a 'simple' outfit this Halloween.

Rihanna - who has sons RZA, two, and Riot, 14 months, with A$AP Rocky - explained: 'I'm just trying to do something simple, easy and maybe something I could do myself.'

The 'We Found Love' hitmaker previously claimed that lingerie can be worn 'anywhere'.

She told PEOPLE: 'Lingerie, to me, should be worn anyway and anywhere that you want. Whether you want it to be seen on display outside of T-shirts or inside a jacket falling off, or just to be cosy or just to have a little support, [it doesn't matter].'

Meanwhile, Rihanna previously revealed that she wants to find ways of 'redefining sexy'.

The singer hosted a fashion show outdoors in California's Simi Valley, and Rihanna was thrilled that she was able to 'push the boundaries' with the event.

She told OK! magazine: 'We are always challenging ourselves, challenging tradition and finding new ways of redefining sexy.

'It's fun because the Savage show is not really just a fashion show, it's an experience. There are so many aspects of entertainment all collided into this one experience. I was very excited about the location and the scale of the show. It was huge and outside.

'We were able to push the boundaries in regards to what we have been able to do before in other shows. It was a very beautiful show, very dynamic.'