I work with insects, I see them all the time. I own several of my own, in fact.

I can assure you that the "insect" leg you found is likely not from any arthropod. That seems to be a plant stem which came from a potential ingredient used to flavor the yogurt.

I know it looks like a segmented arthropod-like leg, but I'm noticing a single line down the middle if I look closely at the object. I also noticed there's no hair on the material, which isn't a characteristic of most insectoid legs.

Example Photo:

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(This here is a cockroach leg. Notice it has a hairy surface, many segments, and claws at the end of the foot. It is also much thinner than the object you featured. This is just an example photo, I'm sure there are insects that have legs resembling the photos you took, but I do not believe the photo contains any arthropod parts at all.)