Have you tried putting baby in side lying? The side lying position allows them to explore, move, and learn about their body, which means it is easier for baby to reach and kick. It also makes it easier for baby to get their hands to their mouth. Side lying is a great position to practice rolling. Baby gets sensory input along their body where it contacts the floor and then they use that information to move! It’s also a great position for a colicky baby!
It only takes a light touch to get them in the side lying position. So try out side lying, just be sure to switch sides!