my first, son, was like that. and his bassinet was right next to my side of the bed. he slept with us till he was about 3 months, then we put him in the crib. and at that point we had to let him do the 5 min crying, check on him, etc, like was described in the other post. he is the best sleeper now.. except when he is scared or something.
we(my husband and i) figured that for this short time, our focus is on our son and any 'alone time' or intimate time we may be missing is nothing compared to the security our son will get from knowing we are there. and building that relationship.
now my daughter had to sleep in her swing because she had reflex issues and would cry and wake up when laid down in her crib. which was also in our room when she came home. after getting past the reflux she is an awesome sleeper, even better than her brother was.
your daughter is only 6 weeks and i agree too young to cry it out as described, just yet. she is just learning where you are or that you will be there when she awakes.
swaddling helped my son. i would even lay my hand in his bassinet on him so he would feel me there.
if you co sleep, use one of those devices that are made for cosleeping. ya hear so many horror stories of infants passing away from sudden infant death sindrome,,and plenty are instances of co sleeping unsafely.
good luck,, it will get easier and better. this 'season' will pass:-)