First of all, you're not bad parents. In those early days you have to do whatever it takes to get through, sometimes. If that means your baby has to sleep in her bouncer for a couple of hours, then that's okay. As long as she's safe and not upset about it, then it's absolutely fine. You don't want to make a habit of it, but when you're desperate then you do it.
My DD was similar in that she wouldn't sleep during the day unless held. She screamed if she was put down in her basket or swing, I mean proper, heartwrenching screaming. Of course we always picked her back up again and she calmed down, but it was hard. Then she went through a stage (a very very long stage, it felt at the time) where we weren't allowed to sit down. She wanted to be held whilst we stood up. Sometimes that wasn't enough and we had to pace up and down, and if we didn't do it then she would cry and cry. Everyone kept telling me to get a sling but it wasn't what she wanted. In those days (was less than a year ago, but time plays tricks on you with a little one) I would've given anything for her to just let me put her down for ten minutes. I used to watch the clock, waiting for DH to get home so that he could stand up with her, crying some afternoons when I realised he'd be another three hours at least. Turned out she had a milk allergy and was uncomfortable with us sitting down, but at the time we didn't know that and it was hell. I spent most days in tears, feeling awful when I had to sit down because my back was breaking.
But!
Now she's 11mo and a pretty good napper, and not too bad at night either. Things fall into place. It takes a long time but they do get there. For us, it started with being able to sit down with her, then she started having her daytime naps in the cot (now she won't sleep anywhere else!), and now she can sit and play and is the happiest thing in the world.
So, despite my essay there I have no real advice, but please don't feel bad. I know it's hard. It does get better, but those first weeks can be awful. Do what's best for her, and for you. And congratulations! 