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I found several LEGO stormtroopers on a toy box. They each have a plain yellow head and the words "LEGO 2002" in big letters in their backs. Did they come from a set?

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These are promotional items. Not from a set. They can be related to a store-opening, a give-away, other special events, etc. Looking through the Bricklink catalog I found one listing with a stormtrooper torso that you might be referring to:

If you can add a picture we can probably identify them more precisely. Hope this helps some...(c;

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