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Print the legs at 95% scale and at least 50% infill. Even with regular PLA we have to print them out at 95% scale. Some special types of PLA (such as wood filament) is more prone to causing blockages and breaking due to the material itself. The limbs are the most delicate part - try to gently wiggle them on using a forward and back motion (or at a slight angle instead of dead on). You can also try using something to make the surface more slippery so they glide on easier e.g. cooking oil or butter. Let me know how it goes :)