Feel like a bad mom

So I've been feeling bad lately because I feel like I don't hold my baby at all. I try to, but he hates to be held. All he wants to do is be in his mamaroo..he would probably live in there if I let him lol he cries when he wants to eat and that's the only time I get to hold him..as soon as he's done eating he cries until I put him back in the mamaroo and he instantly starts smiling and laughing. I always sit on the floor next to him and talk to him while he's in there but I feel bad whenever I'm sitting on the couch and he's just over there all alone. I don't want him to think im just leaving him all alone and not giving him love but he hates when I pick him up. I've just been feeling like I don't hold him enough..don't know how to not feel bad because I know he's happy in there.