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This can be tricky but I've found that for me, rather than trying to drag body parts around solely with R2, hover the imp over the lower legs or lower arms, hold L2 and then use the sticks to rotate the body part. Always rotate or drag the limbs from the lower points (near the hands or feet).
Also it seems best to do as many of your animations as possible before you sculpt your puppet as the additional sculpts may get in the way when trying to animate.