Ok, I will probably get blasted by some moms for this but I wanted my son to listen to me when I said no. So, I sat down at the kitchen table with him when he was 6 months old and set my glasses, or some other item I did not want him to touch that would commonly be a temptation, in front of him. When he reached out for it I said "No" firmly and gave him a spat (on the hand) with a spatula, saying "Don't touch" while I did that. We did this maybe 3 times over the course of a few days. Result, my son stops whatever he is doing, reaching for, or crawling towards when I say "No"- which is great since we have a woodstove. However, I did this when he just began really reaching for things; at 10 months the behaviour is much more ingrained and you might not have as much success. So there it is, some moms will think I'm awful but when I'm busy chasing my 3 year old and my baby is crawling towards danger I have a lot of relief that I trained him to listen to "No".
I leared by failures with my first son, that the FIRST time your child does an action or behaviour you do not wish repeated, you need to set a precedent for it to not be repeated. It requires forethought and quick thinking to prevent negative behaviours from becoming habits. In my opinion, to allow something at 6 months and then decide your child is "old enough" to discipline later, makes your child and your life much harder because you have essentially taught your child that these behaviours are ok, and now you must untrain, which is way harder. If you allow wiggling on the changing table at 4 or 5 months, you can't expect your child will just sit still at 10 or 11 months. So, always keep some toy at the changing table just for the changing table and at first signs of wiggling hold your baby firmly still and redirect her attention with songs and such.
I found it helped to keep an ongoing list of things that I wanted my child to learn or to avoid, and to work on them at times when it was not "in the heat of the moment" or when I was in a hurry or otherwise preoccupied. For instance, I practice with my 3 year old being quiet when mommy answers the phone by being on pretend phone calls instead of when I am actually trying to talk to someone.
As far as shopping, a sling is the way to go. Same for housework- by 6 months I had my son in a mei tai chinese back carrier, which allows me to garden,mop, scrub the toilet and anything else that needs doing. I also find afterwards he is more happy to spend time on his own playing when he has had his touching needs fulfilled by our closeness as we work together.
Since you are frustrated right now, get some good books to nurture your own willingness to provide all that attention your baby is requiring. I loved "Beyond the Rainbow Bridge- Nurturing Your child from Birth to Age 7", and "You are Your Child's First Teacher".