This is true, but Yoda says this 4 years after ANH, I'm sure Luke continued his training after the duel with Vader, we see the results of that training in RoTJ, including the cut scene where he builds his new light saber.
But going back to Yoda's training in ESB, I think Yoda intended to train Luke for quite a bit longer, at least until Luke could've lifted the X-wing himself. If Yoda could've kept Luke on Dagobah for another year, for example, I'm sure he would've gone toe to toe with Vader when they next met.
And back to the OP- I don't believe Yoda and OB1 had a plan. IMO OB1 was just guarding Luke on Tatooine. I don't think he had a plan to train Luke to defeat Vader and/or the Emperor. Just keep him safe and let him live out his meager life on the dust ball planet. The rebellion, the message from Leia, the death of his adopted parents, these led to the decision to train him.
I see a lot of quotes where Yoda says Luke doesn't need any more training, but as soon as Luke says "Then I am a Jedi", Yoda nearly coughs up a lung laughing at him, says something about training Jedi for 600 years, then says...
Yoda: No. Not yet. One thing remains. Vader. You must confront Vader. Then, only then, a Jedi will you be. And confront him you will.
So by the time Luke says, "I am a Jedi like my father before me," he is a Jedi because he met Yoda's criteria by smacking down Vader.
Where did he confirm that? It's nice to know that at least GL doesn't expect us to believe Luke could become a Knight with only some of the basics. Vader must have been seriously holding back against his son on the Death Star.
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He made the mistake of angering Luke over the Leia threat.
Luke seemed to be using the darkside, but was able to stop its flow when Vader was taken down, with his innate compassion.
Luke didnt need to be uber trained to get that far, in surviving against Vader long enough for the Emporer to start zapping him to death, provoking Anakin's return..
But the whole Luke ultimate Jedi warrior thing some fans riff on is silly and that Lucas had to spell that one out speaks volumes of their limited view of the whole saga dynamic. The picture was always bigger than that.
Luke was a piece on the board that was to draw decisive action from Anakin, forfilling the prophecy, and wasn't ever meant to be some Jedi Rambo that would single handedly kick all ass.
He wasn't going to defeat the Emperor with his Lightsaber skills. Well not anytime soon anyway. That was made clear in ESB and ROTJ even before the PT.
But he clearly was a "Threat" since ANH. The guy destroyed the Death Star which people seem to keep forgetting. So even though we know the "plot device" will lead to a final Lightsaber confrontation where everything will be decided there, that wasn't the only way to be a threat to the Emperor. In the big scheme of things being a great Fencer should be pretty useless.
I dunno. He did beat Vader and Mace did beat Palpatine. They weren't unbeatable.
But of course, the whole point of Palpy's defeat is, however corny it may be, ... LOVE. Love between father and son. THat surpasses all knowledge of the Force. And actually, I always thought that was kinda neat. And not done in a corny way. I really missed that subtle touch of values in the PT.