I don't recall -and can't be arsed to look it up- if Baker was "in costume" for the PT. I assume so to a point, though back then doing with an actual robot or mechanical components (plus, CGI!) was more possible and Baker was "young" enough to do the role.
I'm only half joking of course. Kenny Baker is dear member of the franchise and if they wanted to invite him down for a tour of the production and an honorarium in the credits, I say good for him.
Peter Mayhew also acted in part as a consultant. He was in the costume for much of the film but a Finnish Basketball player named Joonas Suotamo Played him in many of the action scenes. My guess is he may wind up playing Chewie in the Han Solo movie as well.
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