Watch the Classic Sixths: 5 online guitar lesson by Robbie Calvo from SoloCraft
As you can see the shapes are really easy and you can memorize these in position and in relation to the chords they are derived from. As you jam with me on these exercises make sure you listen to the phrasing and how I am plucking the strings with my right hand to achieve that phrasing. Check out my explanation of the right hand picking approach on the video as this is really important to the development of a solid application of this style of playing. If at first my suggestions feel awkward or hard to attain please persevere, I am making these recommendations for your absolute benefit and will help you in the long term development of your playing.