Original Yoda looks great. That puppet from TPM has too much hair, has its eyes too wide open, is lit poorly... it's just a laundry list of how not to use a practical effect.
That picture is a great example of how to light a puppet. Overhead diffused lighting gives the hair an airiness that makes it feel like an aura around the puppet head. TPM is diffused side lighting like they are lighting a person, but it highlights the differences that make it not a person. Plus the puppet is ugly and only tangentially like Yoda.