FHA only requires 3.5% down payment, so with $6000 down, you may qualify to purchase something around $170,000. Now there are other programs like USDA and VA which don't require any down payment. Both have stipulations however, like for VA one of you must be a Veteran and USDA only works in rural areas.
With your scores, you should meet with a great local lender who can go over all of your options. I suspect there may be a home in your future. If you need a referral to a great lender, let me know.