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Star Wars: Droids, also known as Droids: The Adventures of R2-D2 and C-3PO, and re-released on DVD in 2004 as Star Wars Animated Adventures: Droids, is an animated television series that follows the adventures of R2-D2 and C-3PO, the droids that appear in all six Star Wars films. The events in the series occur between Star Wars Episode III: Revenge of the Sith and Star Wars Episode IV: A New Hope. The droids work with four different masters throughout the series. The series is structured into three cycles: at the start of each, the droids usually run into their new masters by chance, and at the end of each cycle, they are usually compelled to leave their masters for one cause or another. A television special that aired after the series, The Great Heep, functioned as a prelude to the third Mungo Baobab cycle. The series' opening theme, "Trouble Again," was written and performed by Stewart Copeland of the Police.