Print with 0.4 nozzle, 0.2 layer height, 4 walls, 25% infill, no brim, no support. Do not scale (or scale the layer height too!). Model small prints in 4:30 on my bambulab p1s (with the eyes painted, 3:00 otherwise). Your printer must be well calibrated. Use the test.stl to check your printer. I have put 2 files: small and big. Small fits on 20x20 cm2 plates, and big on 25x25 cm2. How to put the legs in tight position: that is fairly simple: first remove the built in supports below each ball joint. Then twist the leg by 90 degrees, it is ready. You can now move the leg as you wish, it will stay in place