heyas; when i get gimbal lock, usually i try grabbing the arm part (ie the shoulder, here) and draggin the rotation tool across to move it. click on the shoulder to select it, then hold down the shift key, and drag the rotate tool sideways in the window. this might move the arm where you want it. the other solution would be to re-zero the collar and/or shoulder and start again. :/ it doesnt sound like fun, but it can be quicker than trying to force the arm around while it is gimbal locked.