I swear my baby spends all his energy while sleeping trying to work his arms out of a swaddle! But he's so unhappy without a good swaddle too.

At this point I'm confused about how their arms are really supposed to be. Is it like their legs where if you don't have them positioned properly you can do damage? (If you read the description for the Ergobaby swaddler they make it sound that way.)

In the last few days I've tried A+A blankets, flannel blankets, Swaddlepods, and Halo sleepsacks. I have a Swaddle Strap but it's way too big for my little guy, who's 6 lbs even at this point. Does anything work?