Jeffrey Epstein's teenage 'sex slave' Virginia Roberts described in detail having to massage The Simpsons creator Matt Groening's 'crusty' toenails during a flight on Epstein's private jet in newly unsealed court documents which shed more light on her shocking allegations about life with the late pedophile.

The documents were unsealed by a judge earlier this month and were part of a lawsuit that Roberts filed against Epstein and Ghislaine Maxwell, his reported madam and English socialite former girlfriend, in 2015.

They were unsealed by a judge after Epstein's July arrest on human trafficking charges, before he killed himself in jail. Buried within the 2,000 pages of records is a copy of a memoir that Roberts wrote.

It describes her alleged interactions with multiple celebrities and politicians and also describes numerous threesomes she claims she had with Maxwell and Epstein.

Virginia Roberts (left as a teenager) said she was forced to massage Matt Groening's feet on a flight on Epstein's private jet in 2001

It also describes a 2001 encounter with Groening who she said she met during a flight from Carmel, California, to Los Angeles.

Roberts and Epstein had just spent time at his ranch in New Mexico with Ghislaine Maxwell and had allegedly engaged in threesomes with her there.

When she got on the plane in Carmel, the day after producing another young girl she says she met on the street for Epstein to have sex with, Roberts wrote: 'There was an unexpected visitor.

He had yellow crusty toenails that even someone with a chainsaw would've had troubles cutting through and then there was the fluffy balls of leftover pieces of sock wedged between he crevices of his sweaty toes, now that was the real icing on the cake for me

'Matt Groening, the producer of The Simpsons was catching a ride with us. I was so excited as I loved watching the show and acted like a star struck fan, asking him everything from his initial idea for creating the show to where he got his characters from.

'He told me it was all based on his own family make up but without the crazy father and son scenes of Homer's hand around Bart's throat.

'I was enjoying our conversation when Jeffrey insisted that I gave Matt a foot massage throughout the duration of the short flight. I never turned down a client but when I saw the shape of his feet,

'I nearly threw up at the thought of having to touch them.

'He had yellow crusty toenails that even someone with a chainsaw would've had troubles cutting through and then there was the fluffy balls of leftover pieces of sock wedged between he crevices of his sweaty toes, now that was the real icing on the cake for me.

Epstein killed himself earlier this month

'No way could I attempt this, I thought.

'Then I had an idea. I went to the back of the plane and rinsed a wash cloth in warm soapy water and returned for his dreaded foot massage but not before attempting to clean them first,' she said.

Roberts said Groening rewarded her for the massage with a signed sketch of Homer and Bart Simpson.

'In return for my services Matt was kind enough to draw me two quick sketches on blank paper from his briefcase of my two favorite characters, Homer and Bart.

'I asked if he could make them out to my little brother and dad, the true fans of the family not missing an episode during dinner over the past 10 years or so.

'Next to the A-4 size drawing he was able to fit the quote "To my greatest fan from Matt Groening" and their names next to it. I knew they'd absolutely love it and it was such a nice gesture his feet were no longer an issue as I laughed it off and even made a joke to the comedian about getting a pedicure before hitting L.A.'s beaches.'

Roberts wrote that he was 'a pleasure to meet'.

A representative for Groening did not immediately respond to DailyMail.com's inquiries on Wednesday.

Roberts makes the claims in The Billionaire's Playboy Club, an unpublished memoir that was released as part of 2,000 documents earlier this month. The introduction is shown

Virginia Roberts with Prince Andrew and Ghislaine Maxwell in 2001. She says she had sex with Andrew three times and had multiple threesomes with Jeffrey and Ghislaine. They deny her claims

Roberts also described in the memoirs how Epstein wanted to have a baby with her that she would have to travel with .

He told her, she claimed, there was 'no one else he would rather have a child with'. It was a proposition that Maxwell would also involved, Roberts claimed.

By the time they allegedly offered the baby, Roberts was approaching 19. She escaped after being sent to Thailand where she was supposed to be trained in massage but where she married her husband.

The 72-page memoir describes how Roberts was working at Mar-a-Lago when Maxwell approached her.

She says she was 15 at the time.

At first, she was hired to have sex with both Maxwell and Epstein, she claimed, who were at the time a couple.

Over the next several years, Roberts says she became hooked on Xanax and cocaine to try to dull the trauma of her sexual servitude to the pair.

Virginia Roberts said Prince Andrew knew 'exactly what he has done' and urged him to 'come clean' on Tuesday after speaking at a hearing with other Jeffrey Epstein victims. Andrew is shown, right, on Tuesday

She describes flying with them to the Caribbean, between Palm Beach and New York and to New Mexico, her favorite of Epstein's properties where she rode horses.

Famously, she alleges that she was also tasked with having sex with Prince Andrew on three occasions when she was 17.

Among them was once when the prince 'used a doll of his likeness to cup her breast', she claims.

Roberts alleges they had sex in the steam room at Epstein's Upper East Side mansion and on another occasion in London.

Prince Andrew has always vehemently denied the claims. Maxwell denied all of her allegations but the lawsuit was settled in 2017.

On Tuesday, Roberts urged him to 'come clean'.

'He knows exactly what he has done,' she said, speaking after a hearing at a Manhattan court about Epstein.