OK re your naps I think she's not tired enough. That's why she's not sleeping for long at naps, and she's messing around at bedtime. At the moment it looks like she's getting only around 1.75-2hrs of awake time before you're getting her to sleep, and that's more like the A time for a 3-4 month old. At 6 months I'd expect her to want closer to 2.5hrs, maybe even 2.75, to get a good nap. This is a tricky age because if she has two good naps she likely won't need a catnap.
So you'd aim for
7am awake and milk
8am solids
9.30 nap 1.5hrs
11am awake and milk
12pm solids
1.45pm nap 1.5hrs
3.15pm awake and milk
5.15pm catnap 15mins if necessary
6.30pm last milk
7pm asleep for the night
What do you think?
If she's awake and happy, personally I wouldn't bother trying to resettle. It's just frustrating for you both. Either leave her to play in her crib, or get her up and get on with your day!