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It has also been referred to as Droids: The Adventures of R2-D2 and C-3PO. In 2004, it was re-released on DVD as Star Wars Animated Adventures: Droids. Star Wars: Droids is an animated television series that follows the adventures of R2-D2 and C-3PO, two droids who have appeared in all six of the Star Wars films. The events of the series take place in the time period between Star Wars: Episode III: Revenge of the Sith and Star Wars: Episode IV: A New Hope. The droids work with four distinct groups of masters during the course of the television series. The show is broken up into three distinct cycles: at the beginning of each cycle, the droids typically meet their new masters in an unexpected manner, and at the conclusion of each cycle, the droids typically have no choice but to abandon their masters due to one reason or another. As a television special that aired after the series, "The Great Heep" fulfilled the role of a prelude to the third Mungo Baobab cycle. The song "Trouble Again," which serves as the opening theme for the series, was performed by Stewart Copeland of the Police and co-written by Copeland and Derek Holt.