The astronaut hero (voice of Tim Allen) from "Toy Story" blasts off on an adventure in which he and a band of galactic pals take on evil Emperor Zurg (Wayne Knight), who wants to rule the universe. Mira: Nicole Sullivan. XR: Larry Miller. Booster: Stephen Furst. Commander Nebula: Adam Carolla. Warp Darkmatter: Diedrich Bader. LGMs: Patrick Warburton.