Totally normal, in a lot of societies, the baby's feet never even touch the ground until they start to walk. Get a sling & a backpack & alternate them...your moms can do a lot of stuff while still holding her. She will enjoy watching everything from her "perch"..most backpacks can be slipped off unto the table if she falls asleep & then just let her sleep. Same with the sling, lean over the bed & undo the rings & let her sleep.
She is not "needy"! Babies were meant to be held...not stuffed into a car seat or stroller 24/7 while mom does her work.
BTW, my oldest was "fussy" until I started wearing her, then it stopped...once she could crawl & walk, she was off like a shot..of course, by then I had baby #2, who never was "fussy", because I started "wearing" her day one. Baby #3 wasn't fussy, either. My 2nd girl spent her 7th day in a sling, at the Zoo, for a playdate for her 2 year old sister. My 3rd girl, day 8, Field Trip Day with the Mommy & Me class through Ralph's Grocery for her older sisters. As they get bigger, you can adjust the sling, to wear them on your hip & still have your hands free.
I actually feel really uncomfortable when I see a mom or dad just carrying a baby without it being in a sling...what if someone runs into them & they loosen their grip?..okay, I digress..good luck to with your baby & enjoy...it won't be long before you have to beg for a hug!!