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Episode II: Attack of the Clones.
Yoda is first appearing in 1980. Frank Oz voiced Yoda on Star Wars. He was also the voice behind Miss Piggie and Fozzie from the Muppets. Attack of the Clones is the first Star Wars film in which Yoda is entirely computer-generated. In Star Wars V and VI, Yoda is a puppet, and he does not appear in Star War IV.