<human>: Can you give me a shortened version of the text?

My daughter is about 16 1/2 months old.  About a week and a half ago, she managed to climb out of her crib.  Previous to this, she would typically cry for three to ten minutes when first put in her crib for the night, unless already asleep, and usually sleep anywhere from all the way through the night to somewhere between 4 and 6 am, at which point I would get her and bring her to bed with us.  I had just started trying to acclimate her back to spending the whole night in her crib (going in and holding her for a few minutes, then putting her back in her crib again instead of bringing her back to bed) when she pulled the monkey routine.  Concerned she might hurt herself (we have hardwood floors), and having already lowered the crib as long as it will go, we gave up on the crib for the time being and let her sleep with us.  

This past weekend, we converted her crib to a toddler bed, and last night we finally got her baby gate set up.  I can settle her in the bed, as long as I'm cuddling with her, but the moment I move away, she freaks out.  She can't get out of her room, so I'm not worried about safety, but I am concerned we're expecting too much of her; she understands "bedtime" and that we expect her to go to sleep, but I don't think she has the emotional wherewithal to stay in bed.  But none of the three of us get very good sleep with us all in my bed-- my husband and I wake up stiff and sore from unnatural positions, and we're paranoid about rolling over on her.
<bot>: We need to figure out a way to get her sleeping safely and more comfortably on her own, for everyone's sanity.  Anyone have any ideas?