How Was Palpatine Captured By General Grievous in Revenge of the Sith? - Star Wars Explained

In Star Wars Revenge of the Sith we all know the opening scene where we see Anakin Skywalker, Obi-Wan Kenobi and Count Dooku fight in front of Palpatine. Where did Palpatine get captured? How did General Grievous capture him? We Sidious controlled everything (including the Senate ;D) so how exactly did Grievous pull this off in front of the Jedi?
Let's go back to the old Clone Wars and some novelizations for our answer today.

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