My baby sounds a lot like yours! She sleeps great at night (a 5 hour stretch, then eating for ~30 min, then another 3.5 hours.) But the days are a different story...
I've tried to get her to nap in her own bed (co-sleeper) but she wakes up after a little bit, like you describe. She'll sleep forever in people's arms (so all the relatives thinks she's a perfect baby! she's close
Here's a couple things I've done to help her get her naps in (so she's a much happier baby!)
-planned my trips 'out' to the grocery store or shopping to coincide with nap time. She'll fall asleep in the car, then I put in her my sling to walk around the stores. She sleeps great then.
-she takes naps great on the bathroom floor. Yep. We have a blanket folded up several times on the floor and then, this is KEY, we turn on the fan.
She absolutely loves it. I'll walk in to the bathroom and she'll be fussing a bit, turn on the fan and she'll quiet down, then in two seconds her eyelids are mostly shutting and I'll lay her down on the blanket and she's OUT. And even later if she wakes up a bit, either right away or after one sleep cycle of 45 min, she'll usually fall right back asleep with only a little fussing if we don't go to her.
-The other thing I've found to be really important is getting her down for her first nap of the day at the right time. If that one gets delayed or skipped, she doesn't seem to nap well at all the whole rest of the day. The first nap always starts about 1 hour after she first wakes up in the morning and starts eating. Crazy, I know. That means it's only about 30-45 min after she finishes nursing for the first time, but it definitely works for us.
Hope some of these help! Don't give up because they're so much happier and cuter when they're well rested!
p.s. my daughter probably takes 4-5 naps a day. Most are only 1-1.5 hours, but sometimes one of them is 2-3 hours. She will be 6 weeks on Friday.
Also, I ordered a white noise machine yesterday, so hopefully she'll like that and soon she won't have to nap on the bathroom floor!!