At the beginning of Star Wars: Episode IV - A New Hope (1977) which the cartoon is a prequel to, CP30 tells Luke Skywalker that his and R2D2's previous owner was Captain Antilles. At the end of Star Wars: Episode III - Revenge of the Sith (2005), Senator Bail Organa hands C3PO and R2D2 over to Captain Antilles and instructs him to erase their memories. If the cartoon hadn't been canceled, the cartoon would had ended with C3PO and R2D2 ending up back with Captain Antilles and with the Rebel Alliance.
R2-D2 is credited 'as himself' during the opening credits.
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We asked Doctors Jo Wilson, April Kepner, and Andrew DeLuca to tell us the episodes of the show that they think are the most essential to understanding their characters.