Can't have sex

Every single day and night is exactly the same. my baby will only take naps in my arms and will only sleep in bed with us. I've tried to move her in her own bed even in the same room as us and she just wakes up immediately. I feel like my relationship is suffering because I can't have any alone time with my SO. He's wonderful and understands but I feel like I'm going crazy. What do I do? She cries a lot, sometimes for hours.. so I don't trust anyone to watch her. last time I did it was my mom and she got really aggressive and angry. It scares me. Help!!!