What is success in Motherhood?

Some days I look at our life and wonder if I am a terrible Mom.

We tend to eat the same things for breakfast every day.
When we need to run errands or do anything, we are gone most of the morning. LittleFish snacks on Z bars and fruit snacks and bunny crackers while we are out, and frequently skips over lunch all together.
When we do get dinner on, I'm lucky if we get much of it in to him, and then he snacks before bed.
I never feel like I've spent enough time playing with him, although I do try to include him in any special cooking I do.

Motherhood is hard, especially since I really don't feel like I had a good idea of what it should look like. I constantly feel lost and am never sure if I'm doing it well, or terribly. We don't tend to do well with rigid schedules, but I wonder if it would feel more sane if I had a better rhythm not just to the days, but to my weeks.

At the moment, I have a happy kid who has eaten SOMETHING, been read to and snuggled and loved on by both of his parents, and is seemingly well adjusted. For right now, we'll call that success.