Perhaps failure is too harsh, but SegaCD was not a success. 6 million is less than the totals attributed to the Atari 7800, which is not considered a hit system. It was absurdly expensive for the time, and contained a library of games that were either barely better than their Genesis versions or poorly done FMV games. The system itself was well done, but as would be the first in a line of instances where SEGA's support of a system was pitiful.
As I said, they should have stayed with the CD system, focusing on bringing more games that made use of the medium properly, while still releasing Genesis games. They used the SegaCD as a test system, and essentially screwed the people who spent $300 on it with a woeful game library.
I personally looked into buying one recently, but after reviewing the list of games, I came to the same conclusion as the 32X, not worth it. There just aren't many good games. If I bought it back then, I would have been furious, as many people were. Again, I remember the word on the street when the Saturn came out. We all figured Sega would give up on it after a couple years, and like the SegaCD and 32X, they did. Why? Because when you give up or barely support your own system, that sounds like failure to me.