Help with a restful sleep for baby??

Question

Okay, my baby is about 6 months old.
She's grown too long for her bassinet.
We tried putting her in her room in her crib, but I wasn't ready for that switch and she wasn't either (she normally sleeps allll night until 6-8a but she woke up at 3 screaming).
She woke up because she throws her legs in her sleep to where her body rotates until she bangs her head on the crib bars.
We put a pack n play in our room for her, and she rotates in that as well (I counted two full rotations last night) to where she get bunched up in the mesh siding with her head bent to her shoulders. That also wakes her up and causes screaming. 
All of this rotating also creates tangles in her hair which probably adds to the cries.
Is there something I can do to help her get a more restful sleep? She can't be in the bassinet but it seems that's the only place she wants to sleep 😔
She is no longer swaddled, she doesn't nap, and I am unable to cosleep now that she's mobile lol
How can I help her? I feel bad that she is this way. I don't want to add anything to the bed unless her doctor approves it, ya know?

Answer

We sleep trained at 6 months.  But our daughter slept on our chests until then.  She napped in her swing. She woke up at night every 45 minutes. It was a nightmare. 
Three  things that changed our lives. A solid foundation routine.  Sleep training and cereal. 
At 9 pm every single night, we do the same exact thing.  She gets put in her mamaroo, gets 6 oz bottle, then 2 oz formula with organic cereal in a bowl,  with a dash of fruit. Then 5 minutes for food to settle down. Then bath time. Drying off, lotion, diaper, clothes,  kisses, hugs  I love yous and in her room in her crib. 
The sleep training was hard. We used the 5-10-15 minutes method. Go in every 5-10-15 minutes,  sooth her for max 60 seconds without picking her up. Walk out. Repeat.  She did have a monitor on her leg for heartbeat,  body temp etc. And we do have a two way audio/video monitor.  She was watched and heard at all times.  First night was bad. It broke out hearts. But with a twisted vertebrae in my back,  I could no longer carry her for hours on end and then become a statue for her to sleep on at might.. we had to figure it out. By the end of the week, she went from crying to fussing. By the end of the second week, all I had to do is put her down in her crib, still awake. She smiles at us, play with her thumbs and falls asleep. For naps is harder because it's daylight and babies like to be awake if there is light.  So we hung a big velvet piece on the window and made her bedroom dark.  When she gets tired, she gets put in her mamaroo,  I give her a bottle and by the time she's done with it, her eyes are halfway closed.  I pick her up and put her in the crib. She rolls in her tummy and she's out for 30-40 minutes,  twice to three times a day. 
Things to remember- a solid foundation is important.  If u chance the routine or miss the tired signs even by 5 minutes,  ur whole day or night will be ruined. 
If u go driving and baby falls asleep in a car seat often, that too will ruin a good routine.

Help with a restful sleep for baby??

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